Robosense Simulator

URDF description and Gazebo plugins to simulate Robosense laser scanners. Cloned and adapted from velodyne_simulator

Features

• URDF with colored meshes
• Gazebo plugin based on gazebo_plugins/gazebo_ros_block_laser
• Publishes PointCloud2 with same structure (x, y, z, intensity, ring)
• Simulated Gaussian noise
• GPU acceleration (with a modern Gazebo build)
• Supported models:
  • RS-LiDAR-16
  • Pull requests for other models are welcome
• Experimental support for clipping low-intensity returns

Parameters

• *origin URDF transform from parent link.
• parent URDF parent link name. Default base_link
• name URDF model name. Also used as tf frame_id for PointCloud2 output. Default robosense
• topic PointCloud2 output topic name. Default /rs_points
• hz Update rate in hz. Default 20
• lasers Number of vertical spinning lasers. Default RS-16: 16
• samples Number of horizontal rotating samples. Default RS-16: 900
• min_range Minimum range value in meters. Default 0.9
• max_range Maximum range value in meters. Default 130.0
• noise Gausian noise value in meters. Default 0.008
• min_angle Minimum horizontal angle in radians. Default -3.14
• max_angle Maximum horizontal angle in radians. Default 3.14
• gpu Use gpu_ray sensor instead of the standard ray sensor. Default false
• min_intensity The minimum intensity beneath which returns will be clipped. Can be used to remove low-intensity objects.

Known Issues

Example Gazebo Robot

roslaunch robosense_description example.launch

Example Gazebo Robot (with GPU)

roslaunch robosense_description example.launch gpu:=true