# livox_laser_simulation

**Repository Path**: wadas/livox_laser_simulation

## Basic Information

- **Project Name**: livox_laser_simulation
- **Description**: No description available
- **Primary Language**: Unknown
- **License**: MIT
- **Default Branch**: main
- **Homepage**: None
- **GVP Project**: No

## Statistics

- **Stars**: 0
- **Forks**: 0
- **Created**: 2021-08-24
- **Last Updated**: 2021-08-24

## 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(=Melodic)
- Gazebo (= 9.x, http://gazebosim.org/)
- Ubuntu(=18.04)

## Results
- avia

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

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

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

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

![](resources/horizon.gif)

## Usage

> 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

## 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！