Simulation of a LiDAR based on geometric primitives. Below an example for the Velodyne VLP16 configuration.
mkdir ~/simulation_ws/src
cd ~/simulation_ws/src
git clone [email protected]:adrianomcr/lidar_sim.git
cd ~/simulation_ws
catkin build --cmake-args -DCMAKE_BUILD_TYPE=Release
source devel/setup.bashOBS: The Release argument is important to make the code run (way) faster.
cd ~/simulation_ws
source devel/setup.bash
roslaunch lidar_sim example.launch- Plane
- Sphere
- Cylinder
- Ellipsoid
Adriano Rezende