Velodyne Simulator

URDF description and Gazebo plugins to simulate Velodyne laser scanners

Features

• URDF with colored meshes
• Gazebo plugin based on gazebo_ros_block_laser
• Publishes PointCloud2 with same structure (x, y, z, intensity, ring)
• Simulated Gaussian noise

Known Issues

• Gazebo cannot maintain 10Hz with large pointclouds
  • Solution: User can reduce number of points in urdf
• Gazebo versions in indigo and jade have different z orientations
  • Solution: Maintain separate branches for urdf changes

Example Gazebo Robot

roslaunch velodyne_description example.launch