A package to provide plug-in for Livox Series LiDAR.

Livox Laser Simulation

A package to provide plug-in for Livox Series LiDAR.

Requirements

Results

  • avia

  • mid40

  • mid70

  • tele

  • horizon

Usage

Note that the version of gazebo in main branch is gazebo 9.18. If you use gazebo 7, checkout to "gazebo7" branch.

Before you write your urdf file by using this plugin, catkin_make/catkin build is needed.

A simple demo is shown in livox_simulation.launch

Run

    roslaunch livox_laser_simulation livox_simulation.launch

to see.

We can choose the lidar model by selecting different CSV file in scan_mode dir from changing the launch file:

  • avia.csv
  • horizon.csv
  • mid40.csv
  • mid70.csv
  • tele.csv

Parameters(only for display , and example by avia)

  • laser_min_range: 0.1 // min detection range
  • laser_max_range: 200.0 // max detection range
  • horizontal_fov: 70.4 //°
  • vertical_fov: 77.2 //°
  • ros_topic: scan // topic in ros
  • samples: 24000 // number of points in each scan loop
  • downsample: 1 // we can increment this para to decrease the consumption

Thanks to LvFengchi and CaoMing(https://github.com/EpsAvlc) for the help of this repository!

Owner
livox
https://www.livoxtech.com/
livox
Comments
  • Fix installation with catkin

    Fix installation with catkin

    The package does not install some resources properly hence the command catkin_make install won't work as expected. This PR makes the changes to make it work (and compile with newer versions of Gazebo too).

    Signed-off-by: Emiliano Borghi [email protected]

  • Where can I find simulator for livox HAP?

    Where can I find simulator for livox HAP?

    Hi, I want to get information about livox HAP simulator. Is there any plan to provide scan mode data of HAP for simulators? Or if you have a official simulator, please let me know.

  • Does this project add noise in lidar measurement?

    Does this project add noise in lidar measurement?

    Thank you for your sharing!!! In plugin code, I can't find any code about adding noise. Is it reasonable if I add the noisy in livox with the same way on velodyne?
    Thank you!

  • Errors which required C++17 when running with gazebo11

    Errors which required C++17 when running with gazebo11

    When I catkin_make, there are several errors raised:

    /usr/include/gazebo-11/gazebo/physics/PhysicsEngine.hh:274:45: error: ‘any’ is not a member of ‘std’
    /usr/include/gazebo-11/gazebo/physics/PhysicsEngine.hh:274:45: note: ‘std::any’ is only available from C++17 onwards
    

    When compiling the C++ is using add_compile_options(-std=c++11) in CMakeLists.txt of livox_laser_simulation, to fix this error, need change above 11 to 17 add_compile_options(-std=c++17).

    For someone has meet same error.

  • Livox Gazebo simulation generating error related to relative position.

    Livox Gazebo simulation generating error related to relative position.

    I have placed two Lidar in Gazebo by facing to same object

    gazebo_livox

    It giving some error related to the relative position of two Lidar, any idea how we can fix it. Visualisation of error given below

    error1

    error2

  • Laser Model for Ignition

    Laser Model for Ignition

    Hi,

    Are these Livox Models compatible with Ignition Simulator ? Especially, do the point clouds from the Livox Mid-70 and Horizon complement the physical lidars pointcloud data? Thanks

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