**请看 livox 加到 阿克曼模型小车上.md **
A package to provide plug-in for Livox Series LiDAR.
- ROS(=Melodic)
- Gazebo (= 9.x, http:https://gazebosim.org/)
- Ubuntu(=18.04)
- avia
- mid40
- mid70
- tele
- horizon
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
- 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