A more realistic simulation is livox_laser_simulation, this repo is no longer maintained.
A package to provide plug-in for Livox mid-40/mid-100 LiDAR.
Mainly refer to repo: ARTI-Robots/gazebo_utils
Since the principle of livox has not be public, the approximate pattern is taken.
Before you write your urdf file by using this plugin, catkin_make/catkin build is needed.
A simple demo is shown in demo.launch
run
roslauch livox_simulation demo.launch
to see.
- min_range: 0.0 // min detection range
- max_range: 30.0 // max detection range
- resolution: 0.002 //
- samples: // sample points in ellipses
- num_double_ellipses: 5 // number of 8-figures
- update_rate: 10 // Hz
- visualize: True // whether turn on visualize
- noise_mean: 0.0
- noise_stddev: 0.01
- topic_prefix: livox_lidar/
- rotation_increment: 0.1 // rotation_increment of every frame