# livox_laser_simulation

**Repository Path**: ganhelin_admin/livox_laser_simulation

## Basic Information

- **Project Name**: livox_laser_simulation
- **Description**: No description available
- **Primary Language**: Unknown
- **License**: Not specified
- **Default Branch**: gazebo7
- **Homepage**: None
- **GVP Project**: No

## Statistics

- **Stars**: 0
- **Forks**: 0
- **Created**: 2025-06-16
- **Last Updated**: 2025-06-16

## Categories & Tags

**Categories**: Uncategorized

**Tags**: None

## README

# Livox Laser Simulation
A package to provide plug-in for [Livox Series LiDAR](https://www.livoxtech.com).

## Requirements
- ROS(=Kinectic)
- Gazebo (= 7.0, http://gazebosim.org/)
- Ubuntu(=16.04)

## Results
- avia

![](resources/avia.gif)
- mid40

![](resources/mid40.gif)
- mid70

![](resources/mid70.gif)
- tele

![](resources/tele.gif)
- horizon

![](resources/horizon.gif)

## Usage

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

## Parameters(only for display , and example by avia)

- 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

### Thanks to LvFengchi and CaoMing(https://github.com/EpsAvlc) for the help of this repository！