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ROS2 Fork from https://bitbucket.org/DataspeedInc/velodyne_simulator.git

Home Page: https://bitbucket.org/gonzalodepedro/velodyne_simulator.git

License: Other

CMake 5.99% C++ 77.62% Python 16.39%

velodyne_simulator's Introduction

Velodyne Simulator

URDF description and Gazebo plugins to simulate Velodyne laser scanners

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:
- VLP-16
- HDL-32E
- 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 velodyne
topic PointCloud2 output topic name. Default /velodyne_points
hz Update rate in hz. Default 10
lasers Number of vertical spinning lasers. Default VLP-16: 16, HDL-32E: 32
samples Nuber of horizontal rotating samples. Default VLP-16: 1875, HDL-32E: 2187
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

At full sample resolution, Gazebo can take up to 30 seconds to load the VLP-16 pluggin, 60 seconds for the HDL-32E
With the default Gazebo version shipped with ROS, ranges are incorrect when accelerated with the GPU option (issue,image)
- Solution: Upgrade to a modern Gazebo version
Gazebo cannot maintain 10Hz with large pointclouds
- Solution: User can reduce number of points (samples) or frequency (hz) in the urdf parameters, see example.urdf.xacro
Gazebo crashes when updating HDL-32E sensors with default number of points. "Took over 1.0 seconds to update a sensor."
- Solution: User can reduce number of points in urdf (same as above)
Gazebo versions in indigo and jade have different z orientations
- Solution: Maintain separate branches for urdf changes (gazebo2 and master)

Example Gazebo Robot

roslaunch velodyne_description example.launch

Example Gazebo Robot (with GPU)

roslaunch velodyne_description example.launch gpu:=true

velodyne_simulator's People

Contributors

Stargazers

Watchers

velodyne_simulator's Issues

is this tested under ROS foxy ?

Velodyne not working with turtlebot4

Hy.

I'm trying to implement a VLP16 from this repo in the turtlebot4 simulator avaliable here: https://github.com/turtlebot/turtlebot4_robot

Following the steps described at this issue I managed to import the model so it appears on gazebo, but the velodyne is not working: turtlebot/turtlebot4_simulator#46

This simulator works with ROS2 humble and gazebo ignition. Then my question is, this velodyne works with gazebo ignition?

If so, here is what I did:

First I get all the packages from this repo (velodyne_description, velodyne_gazebo_plugins and velodyne_simulator).
Then I copied the script of the issue, and added the following in the turtlebot xacro's file:

<!-- Path to the copied file -->
<xacro:include filename="$(find turtlebot4_sim)/urdf/sensors/velodyne_lidar.urdf.xacro" />

<!-- At the bottom of the file, where the sensors are imported -->
<xacro:velodyne_lidar name="velodyne" parent_link="shell_link">
    <origin xyz="${velodyne_x_offset} ${velodyne_y_offset} ${velodyne_z_offset}" rpy="0 0 0" />
</xacro:velodyne_lidar>

Then I added all the dependencies and paths as described at the mentioned issue.

At this point I can see the velodyne attached to the robot, but it isn't working. I don't have any topic in the ros2 topic list, and I'm pretty sure the velodyne is not running. So my second question is, does the velodyne need to be turned on? If so, how can i do it?

Digging at turtlebot4's code I found they connected the rplidar and the oak camera using gz_ros_bridge (file ros_ign_bridge.launch.py from turtlebot4 repo). Maybe I have to do something similar? I tried with this, but i didnt worked (it said that the topic was not found):

velodyne_bridge = Node(
    package='ros_gz_bridge',
    executable='parameter_bridge',
    name='velodyne_bridge',
    output='screen',
    parameters=[{
        'use_sim_time': use_sim_time
    }],
    arguments=[
        [namespace,
        '/sensors/velodyne/velodyne_scan' +
        '@sensor_msgs/PointCloud2[ignition.msgs.PointCloudPacked']
    ],
    )

Pd: I checked the example launcher found at "velodyne_description" and everything was working fine (at least in gazebo classic).

Missing model config, unable to insert model.

[Err] [InsertModelWidget.cc:426] Missing model.config for model "/ws/install/velodyne_description/share/ament_index"
[gazebo-3] [Err] [InsertModelWidget.cc:426] Missing model.config for model "/ws/install/velodyne_description/share/colcon-core"
[gazebo-3] [Err] [InsertModelWidget.cc:426] Missing model.config for model "/ws/install/velodyne_description/share/velodyne_description"
[gazebo-3]

May I know if anyone encountered this issue? Any directions to resolve them?

model:// uri

Hi,

In the .urdf files for the VLP16, I see you've used the package:// URI which defaults to model://.

In ROS 1, we could configure the URI through the tag within package.xml. However, in ROS 2 this functionality seems to be missing (leading to a host of "File or path does not exist" errors for the meshes after a long timeout searching through Gazebo's model repository.

Would it be more "general" if the package:// URI be swapped with file://, and paths be manually configured?

Thank you!

[Wrn] [SystemPaths.cc:459] File or path does not exist [""] [model://velodyne_description/meshes/VLP16_scan.dae]
[Err] [Visual.cc:2953] No mesh specified
[Wrn] [SystemPaths.cc:459] File or path does not exist [""] [model://velodyne_description/meshes/VLP16_scan.dae]
[Err] [Visual.cc:2953] No mesh specified
[Wrn] [SystemPaths.cc:459] File or path does not exist [""] [model://velodyne_description/meshes/VLP16_scan.dae]
[Wrn] [SystemPaths.cc:459] File or path does not exist [""] [model://velodyne_description/meshes/VLP16_base_2.dae]
[Err] [Visual.cc:2953] No mesh specified
[Wrn] [SystemPaths.cc:459] File or path does not exist [""] [model://velodyne_description/meshes/VLP16_base_2.dae]
[Err] [Visual.cc:2953] No mesh specified
[Wrn] [SystemPaths.cc:459] File or path does not exist [""] [model://velodyne_description/meshes/VLP16_base_2.dae]
[Wrn] [SystemPaths.cc:459] File or path does not exist [""] [model://velodyne_description/meshes/VLP16_base_1.dae]
[Err] [Visual.cc:2953] No mesh specified
[Wrn] [SystemPaths.cc:459] File or path does not exist [""] [model://velodyne_description/meshes/VLP16_base_1.dae]
[Err] [Visual.cc:2953] No mesh specified
[Wrn] [SystemPaths.cc:459] File or path does not exist [""] [model://velodyne_description/meshes/VLP16_base_1.dae]
[Wrn] [SystemPaths.cc:459] File or path does not exist [""] [model://velodyne_description/meshes/VLP16_scan.dae]
[Err] [Visual.cc:2953] No mesh specified
[Wrn] [SystemPaths.cc:459] File or path does not exist [""] [model://velodyne_description/meshes/VLP16_scan.dae]
[Wrn] [SystemPaths.cc:459] File or path does not exist [""] [model://velodyne_description/meshes/VLP16_base_1.dae]
[Err] [Visual.cc:2953] No mesh specified
[Wrn] [SystemPaths.cc:459] File or path does not exist [""] [model://velodyne_description/meshes/VLP16_base_1.dae]
[Wrn] [SystemPaths.cc:459] File or path does not exist [""] [model://velodyne_description/meshes/VLP16_base_2.dae]
[Err] [Visual.cc:2953] No mesh specified
[Wrn] [SystemPaths.cc:459] File or path does not exist [""] [model://velodyne_description/meshes/VLP16_base_2.dae]
[Wrn] [SystemPaths.cc:459] File or path does not exist [""] [model://velodyne_description/meshes/VLP16_scan.dae]
[Err] [Visual.cc:2953] No mesh specified
[Wrn] [SystemPaths.cc:459] File or path does not exist [""] [model://velodyne_description/meshes/VLP16_scan.dae]
[Err] [Visual.cc:2953] No mesh specified
[Wrn] [SystemPaths.cc:459] File or path does not exist [""] [model://velodyne_description/meshes/VLP16_scan.dae]
[Wrn] [SystemPaths.cc:459] File or path does not exist [""] [model://velodyne_description/meshes/VLP16_base_1.dae]
[Err] [Visual.cc:2953] No mesh specified
[Wrn] [SystemPaths.cc:459] File or path does not exist [""] [model://velodyne_description/meshes/VLP16_base_1.dae]
[Err] [Visual.cc:2953] No mesh specified
[Wrn] [SystemPaths.cc:459] File or path does not exist [""] [model://velodyne_description/meshes/VLP16_base_1.dae]
[Wrn] [SystemPaths.cc:459] File or path does not exist [""] [model://velodyne_description/meshes/VLP16_base_2.dae]
[Err] [Visual.cc:2953] No mesh specified
[Wrn] [SystemPaths.cc:459] File or path does not exist [""] [model://velodyne_description/meshes/VLP16_base_2.dae]
[Err] [Visual.cc:2953] No mesh specified
[Wrn] [SystemPaths.cc:459] File or path does not exist [""] [model://velodyne_description/meshes/VLP16_base_2.dae]
[Wrn] [SystemPaths.cc:459] File or path does not exist [""] [model://velodyne_description/meshes/VLP16_scan.dae]
[Err] [Visual.cc:2953] No mesh specified
[Wrn] [SystemPaths.cc:459] File or path does not exist [""] [model://velodyne_description/meshes/VLP16_scan.dae]
[Wrn] [SystemPaths.cc:459] File or path does not exist [""] [model://velodyne_description/meshes/VLP16_base_1.dae]
[Err] [Visual.cc:2953] No mesh specified
[Wrn] [SystemPaths.cc:459] File or path does not exist [""] [model://velodyne_description/meshes/VLP16_base_1.dae]
[Wrn] [SystemPaths.cc:459] File or path does not exist [""] [model://velodyne_description/meshes/VLP16_base_2.dae]
[Err] [Visual.cc:2953] No mesh specified
[Wrn] [SystemPaths.cc:459] File or path does not exist [""] [model://velodyne_description/meshes/VLP16_base_2.dae]

toyotaresearchinstitute / velodyne_simulator Goto Github PK

velodyne_simulator's Introduction

Velodyne Simulator

Features

Parameters

Known Issues

Example Gazebo Robot

Example Gazebo Robot (with GPU)

velodyne_simulator's People

Contributors

Stargazers

Watchers

Forkers

velodyne_simulator's Issues

is this tested under ROS foxy ?

Velodyne not working with turtlebot4

Missing model config, unable to insert model.

model:// uri

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