# Velodyne Simulator
URDF description and Gazebo plugins to simulate Velodyne laser scanners
![rviz screenshot](img/rviz.png)
# Features
* URDF with colored meshes
* Gazebo plugin based on [gazebo_plugins/gazebo_ros_block_laser](https://github.com/ros-simulation/gazebo_ros_pkgs/blob/kinetic-devel/gazebo_plugins/src/gazebo_ros_block_laser.cpp)
* Publishes PointCloud2 with same structure (x, y, z, intensity, ring)
* Simulated Gaussian noise
* GPU acceleration ([with a modern Gazebo build](gazebo_upgrade.md))
* Supported models:
* [VLP-16](velodyne_description/urdf/VLP-16.urdf.xacro)
* [HDL-32E](velodyne_description/urdf/HDL-32E.urdf.xacro)
* Pull requests for other models are welcome
* Experimental support for clipping low-intensity returns
# 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](https://bitbucket.org/osrf/gazebo/issues/946/),[image](img/gpu.png))
* Solution: Upgrade to a [modern Gazebo version](gazebo_upgrade.md)
* 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](velodyne_description/urdf/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```
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ros小车.zip (98个子文件)
ROS-SLAM-MATLAB-Moveit2.0-SLAM
ROS-SLAM-MATLAB-Moveit2.0-SLAM
mbot_navigation
CMakeLists.txt 7KB
package.xml 3KB
说明.txt 396B
launch
amcl.launch 2KB
gmapping.launch 2KB
nav_cloister_demo.launch 815B
move_base.launch 696B
rviz
gmapping.rviz 7KB
nav.rviz 9KB
maps
map.yaml 131B
map.pgm 1.11MB
config
rplidar.lua 2KB
mbot
costmap_common_params.yaml 357B
global_costmap_params.yaml 234B
local_costmap_params.yaml 242B
base_local_planner_params.yaml 1KB
README.md 561B
mbot_teleop
CMakeLists.txt 7KB
package.xml 3KB
说明.txt 275B
launch
logitech.launch 655B
mbot_teleop.launch 232B
scripts
mbot_teleop.py 4KB
velodyne_simulator-master
LICENSE 2KB
gazebo_upgrade.md 985B
说明.txt 95B
velodyne_gazebo_plugins
include
velodyne_gazebo_plugins
GazeboRosVelodyneLaser.h 6KB
CMakeLists.txt 1KB
CHANGELOG.rst 2KB
src
rotate_velodyne.py 790B
GazeboRosVelodyneLaser.cpp 15KB
package.xml 801B
launch
velodyne_controller.launch 848B
config
velodyne_controller.yaml 404B
img
rviz.png 28KB
gpu.png 19KB
bitbucket-pipelines.yml 3KB
velodyne_simulator
CMakeLists.txt 117B
CHANGELOG.rst 576B
package.xml 808B
velodyne_description
CMakeLists.txt 224B
CHANGELOG.rst 1KB
urdf
LiDAR-X.urdf.xacro 5KB
VLP-16.urdf.xacro 5KB
HDL-32E.urdf.xacro 5KB
example.urdf.xacro 1KB
LiDAR-X-rotating.urdf.xacro 6KB
package.xml 713B
meshes
VLP16_base_2.stl 65KB
VLP16_scan.dae 23KB
HDL32E_scan.dae 317KB
VLP16_base_2.dae 180KB
HDL32E_scan.stl 88KB
HDL32E_base.stl 74KB
VLP16_base_1.dae 259KB
VLP16_scan.stl 5KB
VLP16_base_1.stl 93KB
HDL32E_base.dae 154KB
launch
example.launch 2KB
rviz
example.rviz 7KB
world
example.world 2KB
README.md 3KB
ROS-SLAM-MATLAB-Moveit2.0-Moveit
ROS-SLAM-MATLAB-Moveit2.0-Moveit
pudong_moveit
CMakeLists.txt 302B
package.xml 1KB
说明.txt 163B
launch
ros_controllers.launch 383B
setup_assistant.launch 545B
chomp_planning_pipeline.launch.xml 1KB
gazebo.launch 977B
move_group.launch 5KB
planning_context.launch 1KB
warehouse_settings.launch.xml 675B
pilz_industrial_motion_planner_planning_pipeline.launch.xml 824B
demo_gazebo.launch 3KB
moveit.rviz 19KB
wagen_moveit_controller_manager.launch.xml 546B
trajectory_execution.launch.xml 1KB
run_benchmark_ompl.launch 793B
wagen_moveit_sensor_manager.launch.xml 20B
moveit_rviz.launch 576B
warehouse.launch 517B
joystick_control.launch 621B
planning_pipeline.launch.xml 324B
ompl_planning_pipeline.launch.xml 1KB
demo.launch 3KB
fake_moveit_controller_manager.launch.xml 538B
default_warehouse_db.launch 699B
sensor_manager.launch.xml 757B
config
wagen.srdf 16KB
ros_controllers.yaml 1KB
kinematics.yaml 151B
cartesian_limits.yaml 99B
sensors_3d.yaml 105B
fake_controllers.yaml 255B
chomp_planning.yaml 486B
ompl_planning.yaml 9KB
joint_limits.yaml 1KB
README.md 510B
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