LivoxCamSimu

KO | EN

gitlite — search

#python #hacktoberfest #llm #golang #machine-learning #deep-learning #macos #java #nodejs #awesome #cli #awesome-list #security #ios

(★ 30)

The simulation environment contains the livox lidar and the pinhole camera

LivoxCamSimu Latest Version Download

Download Latest Version (.zip)

// repository documentation

Was this content helpful?

★ 0 (0 ratings)

# Livox Camera Simulation
This is a ros package for sensor simulation for cameras and lidar. This repo is built based on the [livox simulator](https://github.com/lvfengchi/livox_laser_simulation).

## Requirements
### gazebo9
- enviroment: ROS melodic + gazebo7
- pointcloud type: sensor_msg::pointcloud2(pcl::Pointcloud\<pcl::PointXYZ\>)

## Dependence

- [livox_ros_driver](https://github.com/Livox-SDK/livox_ros_driver)

## Usage

Run 
```bash
    roslauch livox_laser_simulation livox_simulation.launch
```
to see.

Change sensor by change the following lines in the robot.xacro into another xacro file.
```xml
  <xacro:include filename="$(find livox_laser_simulation)/urdf/livox_horizon.xacro"/>
  <Livox_Horizon name="livox" visualize="true" publish_pointcloud_type="2"/>
```
You can change the extrinsic parameters between camera and Livox in file "robot.xacro"
```xml
  <xacro:usb_cam parent="livox_base" xyz="0.1 0.3 0.2" rpy="0 ${M_PI/40} ${M_PI/20}"/>

```
And we supply a Matlab script (src/GtCalc.m) to convert this xyz and rpy into extrinsic matrix. You need to change
this two line:
```matlab
xyz=[0.1 0.3 0.2]; % parameters in Gazebo
rpy=[0 pi/40 pi/20]; % parameters in Gazebo
```

- avia.csv
- horizon.csv
- mid40.csv
- mid70.csv
- tele.csv

## File Structure

├── include:     "Header files"   
│   └── livox_laser_simulation  
├── launch       "launch files"  
├── meshes       "The 3D model of livox"  
├── resources    "Images for demostration"  
├── rviz         "Rviz configuration files"  
├── scan_mode    "csv files that contains the scanning pattern of Livox"  
├── src          "Plugin source files"  
├── urdf         "Robot and sensors' definition in Gazebo"  
└── worlds       "The world definition in Gazebo"

## TODO
- Revise this readme

LivoxCamSimu

LivoxCamSimu Latest Version Download

Today's picks

Was this content helpful?

Recent Feedback

LivoxCamSimu

LivoxCamSimu Latest Version Download

Today's picks

Was this content helpful?

Recent Feedback

Download README