velodyne_simulator repository

Repository Summary

Checkout URI https://bitbucket.org/DataspeedInc/velodyne_simulator.git
VCS Type git
VCS Version master
Last Updated 2020-08-03
Dev Status MAINTAINED
CI status No Continuous Integration
Released RELEASED
Package Tags No category tags.
Contributing Help Wanted (0)
Good First Issues (0)
Pull Requests to Review (0)

Packages

README

Velodyne Simulator

URDF description and Gazebo plugins to simulate Velodyne laser scanners

rviz screenshot

Features

Parameters

  • *origin URDF transform from parent link. * parent URDF parent link name. Default base_link
  • name URDF model name. Also used as tf frame_id for PointCloud2 output. Default velodyne * topic PointCloud2 output topic name. Default /velodyne_points
  • hz Update rate in hz. Default 10 * lasers Number of vertical spinning lasers. Default VLP-16: 16, HDL-32E: 32 * samples Nuber of horizontal rotating samples. Default VLP-16: 1875, HDL-32E: 2187 * min_range Minimum range value in meters. Default 0.9
  • max_range Maximum range value in meters. Default 130.0 * noise Gausian noise value in meters. Default 0.008
  • min_angle Minimum horizontal angle in radians. Default -3.14 * max_angle Maximum horizontal angle in radians. Default 3.14
  • gpu Use gpu_ray sensor instead of the standard ray sensor. Default false * min_intensity The minimum intensity beneath which returns will be clipped. Can be used to remove low-intensity objects.

Known Issues

  • At full sample resolution, Gazebo can take up to 30 seconds to load the VLP-16 pluggin, 60 seconds for the HDL-32E
  • With the default Gazebo version shipped with ROS, ranges are incorrect when accelerated with the GPU option (issue,image)
  • Gazebo cannot maintain 10Hz with large pointclouds
    • Solution: User can reduce number of points (samples) or frequency (hz) in the urdf parameters, see example.urdf.xacro
  • Gazebo crashes when updating HDL-32E sensors with default number of points. "Took over 1.0 seconds to update a sensor."
    • Solution: User can reduce number of points in urdf (same as above)
  • Gazebo versions in indigo and jade have different z orientations
    • Solution: Maintain separate branches for urdf changes (gazebo2 and master)

Example Gazebo Robot

roslaunch velodyne_description example.launch

Example Gazebo Robot (with GPU)

roslaunch velodyne_description example.launch gpu:=true

CONTRIBUTING

No CONTRIBUTING.md found.

Repository Summary

Checkout URI https://bitbucket.org/DataspeedInc/velodyne_simulator.git
VCS Type git
VCS Version master
Last Updated 2020-08-03
Dev Status MAINTAINED
CI status No Continuous Integration
Released RELEASED
Package Tags No category tags.
Contributing Help Wanted (0)
Good First Issues (0)
Pull Requests to Review (0)

Packages

README

Velodyne Simulator

URDF description and Gazebo plugins to simulate Velodyne laser scanners

rviz screenshot

Features

Parameters

  • *origin URDF transform from parent link. * parent URDF parent link name. Default base_link
  • name URDF model name. Also used as tf frame_id for PointCloud2 output. Default velodyne * topic PointCloud2 output topic name. Default /velodyne_points
  • hz Update rate in hz. Default 10 * lasers Number of vertical spinning lasers. Default VLP-16: 16, HDL-32E: 32 * samples Nuber of horizontal rotating samples. Default VLP-16: 1875, HDL-32E: 2187 * min_range Minimum range value in meters. Default 0.9
  • max_range Maximum range value in meters. Default 130.0 * noise Gausian noise value in meters. Default 0.008
  • min_angle Minimum horizontal angle in radians. Default -3.14 * max_angle Maximum horizontal angle in radians. Default 3.14
  • gpu Use gpu_ray sensor instead of the standard ray sensor. Default false * min_intensity The minimum intensity beneath which returns will be clipped. Can be used to remove low-intensity objects.

Known Issues

  • At full sample resolution, Gazebo can take up to 30 seconds to load the VLP-16 pluggin, 60 seconds for the HDL-32E
  • With the default Gazebo version shipped with ROS, ranges are incorrect when accelerated with the GPU option (issue,image)
  • Gazebo cannot maintain 10Hz with large pointclouds
    • Solution: User can reduce number of points (samples) or frequency (hz) in the urdf parameters, see example.urdf.xacro
  • Gazebo crashes when updating HDL-32E sensors with default number of points. "Took over 1.0 seconds to update a sensor."
    • Solution: User can reduce number of points in urdf (same as above)
  • Gazebo versions in indigo and jade have different z orientations
    • Solution: Maintain separate branches for urdf changes (gazebo2 and master)

Example Gazebo Robot

roslaunch velodyne_description example.launch

Example Gazebo Robot (with GPU)

roslaunch velodyne_description example.launch gpu:=true

CONTRIBUTING

No CONTRIBUTING.md found.

Repository Summary

Checkout URI https://bitbucket.org/DataspeedInc/velodyne_simulator.git
VCS Type git
VCS Version master
Last Updated 2020-08-03
Dev Status MAINTAINED
CI status No Continuous Integration
Released RELEASED
Package Tags No category tags.
Contributing Help Wanted (0)
Good First Issues (0)
Pull Requests to Review (0)

Packages

README

Velodyne Simulator

URDF description and Gazebo plugins to simulate Velodyne laser scanners

rviz screenshot

Features

Parameters

  • *origin URDF transform from parent link. * parent URDF parent link name. Default base_link
  • name URDF model name. Also used as tf frame_id for PointCloud2 output. Default velodyne * topic PointCloud2 output topic name. Default /velodyne_points
  • hz Update rate in hz. Default 10 * lasers Number of vertical spinning lasers. Default VLP-16: 16, HDL-32E: 32 * samples Nuber of horizontal rotating samples. Default VLP-16: 1875, HDL-32E: 2187 * min_range Minimum range value in meters. Default 0.9
  • max_range Maximum range value in meters. Default 130.0 * noise Gausian noise value in meters. Default 0.008
  • min_angle Minimum horizontal angle in radians. Default -3.14 * max_angle Maximum horizontal angle in radians. Default 3.14
  • gpu Use gpu_ray sensor instead of the standard ray sensor. Default false * min_intensity The minimum intensity beneath which returns will be clipped. Can be used to remove low-intensity objects.

Known Issues

  • At full sample resolution, Gazebo can take up to 30 seconds to load the VLP-16 pluggin, 60 seconds for the HDL-32E
  • With the default Gazebo version shipped with ROS, ranges are incorrect when accelerated with the GPU option (issue,image)
  • Gazebo cannot maintain 10Hz with large pointclouds
    • Solution: User can reduce number of points (samples) or frequency (hz) in the urdf parameters, see example.urdf.xacro
  • Gazebo crashes when updating HDL-32E sensors with default number of points. "Took over 1.0 seconds to update a sensor."
    • Solution: User can reduce number of points in urdf (same as above)
  • Gazebo versions in indigo and jade have different z orientations
    • Solution: Maintain separate branches for urdf changes (gazebo2 and master)

Example Gazebo Robot

roslaunch velodyne_description example.launch

Example Gazebo Robot (with GPU)

roslaunch velodyne_description example.launch gpu:=true

CONTRIBUTING

No CONTRIBUTING.md found.

Repository Summary

Checkout URI https://bitbucket.org/DataspeedInc/velodyne_simulator.git
VCS Type git
VCS Version master
Last Updated 2020-08-03
Dev Status MAINTAINED
CI status No Continuous Integration
Released RELEASED
Package Tags No category tags.
Contributing Help Wanted (0)
Good First Issues (0)
Pull Requests to Review (0)

Packages

README

Velodyne Simulator

URDF description and Gazebo plugins to simulate Velodyne laser scanners

rviz screenshot

Features

Parameters

  • *origin URDF transform from parent link. * parent URDF parent link name. Default base_link
  • name URDF model name. Also used as tf frame_id for PointCloud2 output. Default velodyne * topic PointCloud2 output topic name. Default /velodyne_points
  • hz Update rate in hz. Default 10 * lasers Number of vertical spinning lasers. Default VLP-16: 16, HDL-32E: 32 * samples Nuber of horizontal rotating samples. Default VLP-16: 1875, HDL-32E: 2187 * min_range Minimum range value in meters. Default 0.9
  • max_range Maximum range value in meters. Default 130.0 * noise Gausian noise value in meters. Default 0.008
  • min_angle Minimum horizontal angle in radians. Default -3.14 * max_angle Maximum horizontal angle in radians. Default 3.14
  • gpu Use gpu_ray sensor instead of the standard ray sensor. Default false * min_intensity The minimum intensity beneath which returns will be clipped. Can be used to remove low-intensity objects.

Known Issues

  • At full sample resolution, Gazebo can take up to 30 seconds to load the VLP-16 pluggin, 60 seconds for the HDL-32E
  • With the default Gazebo version shipped with ROS, ranges are incorrect when accelerated with the GPU option (issue,image)
  • Gazebo cannot maintain 10Hz with large pointclouds
    • Solution: User can reduce number of points (samples) or frequency (hz) in the urdf parameters, see example.urdf.xacro
  • Gazebo crashes when updating HDL-32E sensors with default number of points. "Took over 1.0 seconds to update a sensor."
    • Solution: User can reduce number of points in urdf (same as above)
  • Gazebo versions in indigo and jade have different z orientations
    • Solution: Maintain separate branches for urdf changes (gazebo2 and master)

Example Gazebo Robot

roslaunch velodyne_description example.launch

Example Gazebo Robot (with GPU)

roslaunch velodyne_description example.launch gpu:=true

CONTRIBUTING

No CONTRIBUTING.md found.

Repository Summary

Checkout URI https://bitbucket.org/DataspeedInc/velodyne_simulator.git
VCS Type git
VCS Version master
Last Updated 2020-08-03
Dev Status MAINTAINED
CI status No Continuous Integration
Released RELEASED
Package Tags No category tags.
Contributing Help Wanted (0)
Good First Issues (0)
Pull Requests to Review (0)

Packages

README

Velodyne Simulator

URDF description and Gazebo plugins to simulate Velodyne laser scanners

rviz screenshot

Features

Parameters

  • *origin URDF transform from parent link. * parent URDF parent link name. Default base_link
  • name URDF model name. Also used as tf frame_id for PointCloud2 output. Default velodyne * topic PointCloud2 output topic name. Default /velodyne_points
  • hz Update rate in hz. Default 10 * lasers Number of vertical spinning lasers. Default VLP-16: 16, HDL-32E: 32 * samples Nuber of horizontal rotating samples. Default VLP-16: 1875, HDL-32E: 2187 * min_range Minimum range value in meters. Default 0.9
  • max_range Maximum range value in meters. Default 130.0 * noise Gausian noise value in meters. Default 0.008
  • min_angle Minimum horizontal angle in radians. Default -3.14 * max_angle Maximum horizontal angle in radians. Default 3.14
  • gpu Use gpu_ray sensor instead of the standard ray sensor. Default false * min_intensity The minimum intensity beneath which returns will be clipped. Can be used to remove low-intensity objects.

Known Issues

  • At full sample resolution, Gazebo can take up to 30 seconds to load the VLP-16 pluggin, 60 seconds for the HDL-32E
  • With the default Gazebo version shipped with ROS, ranges are incorrect when accelerated with the GPU option (issue,image)
  • Gazebo cannot maintain 10Hz with large pointclouds
    • Solution: User can reduce number of points (samples) or frequency (hz) in the urdf parameters, see example.urdf.xacro
  • Gazebo crashes when updating HDL-32E sensors with default number of points. "Took over 1.0 seconds to update a sensor."
    • Solution: User can reduce number of points in urdf (same as above)
  • Gazebo versions in indigo and jade have different z orientations
    • Solution: Maintain separate branches for urdf changes (gazebo2 and master)

Example Gazebo Robot

roslaunch velodyne_description example.launch

Example Gazebo Robot (with GPU)

roslaunch velodyne_description example.launch gpu:=true

CONTRIBUTING

No CONTRIBUTING.md found.

Repository Summary

Checkout URI https://bitbucket.org/DataspeedInc/velodyne_simulator.git
VCS Type git
VCS Version gazebo2
Last Updated 2017-10-17
Dev Status MAINTAINED
CI status No Continuous Integration
Released RELEASED
Package Tags No category tags.
Contributing Help Wanted (0)
Good First Issues (0)
Pull Requests to Review (0)

Packages

README

Velodyne Simulator

URDF description and Gazebo plugins to simulate Velodyne laser scanners

rviz screenshot

Features

Parameters

  • *origin URDF transform from parent link. * parent URDF parent link name. Default base_link
  • name URDF model name. Also used as tf frame_id for PointCloud2 output. Default velodyne * topic PointCloud2 output topic name. Default /velodyne_points
  • hz Update rate in hz. Default 10 * lasers Number of vertical spinning lasers. Default VLP-16: 16, HDL-32E: 33 * samples Nuber of horizontal rotating samples. Default VLP-16: 1875, HDL-32E: 2187 * min_range Minimum range value in meters. Default 0.9
  • max_range Maximum range value in meters. Default 130.0 * noise Gausian noise value in meters. Default 0.008
  • min_angle Minimum horizontal angle in radians. Default -3.14 * max_angle Maximum horizontal angle in radians. Default 3.14

Known Issues

  • At full sample resolution, Gazebo can take up to 30 seconds to load the VLP-16 pluggin, 60 seconds for the HDL-32E
  • Gazebo cannot maintain 10Hz with large pointclouds
    • Solution: User can reduce number of points (samples) or frequency (hz) in the urdf parameters, see example.urdf.xacro
  • Gazebo crashes when updating HDL-32E sensors with default number of points. "Took over 1.0 seconds to update a sensor."
    • Solution: User can reduce number of points in urdf (same as above)
  • Gazebo versions in indigo and jade have different z orientations
    • Solution: Maintain separate branches for urdf changes (gazebo2 and master)

Example Gazebo Robot

roslaunch velodyne_description example.launch

CONTRIBUTING

No CONTRIBUTING.md found.