When using the Gazebo 9 version, my point cloud doesn't match with my Robot Model when shown in RViz, is that something that also happens in Gazebo 7? And is there any fix for that?

The livox sdk provides a lidar point cloud in CustomMsg format, which contains the 'line' field. Using this 'line' field can easily process point cloud data, and whether similar information can be obtained in this project.

Or is it possible to get the order of the point cloud in the ros message?

Thank you for your sharing. I'm trying use your simulation to generate some data to verify my algorithm on the extrinsic calibration of calibrate camera and livox. A problem show up when I put a unit box in front the Livox. The unit box is 1m1m1m set in gazebo. The measurement from point cloud tells me that the box is about 0.9m wide. I'm confused with this result. Do you know any idea? Looking forward to your response.

intensity "= rayShape->GetRetro(pair.first);" is always returned 0, and Reflectivity is assigned 100. pt.reflectivity = 100; It would be very helpful to get intensity that changes with the material, is there any fix for that?

First of all, thank you for this simulation. I tried running this code, but I am getting model download errors.

It is not able to download the mentioned models. However, I do see gazebo running but it only shows a 2d scan, not a 3d scan.

I am running Ros Melodic on Ubuntu 18.04 and gazebo 9. Can anyone guide me to what I am doing wrong?

Best Regards, Hashim Ali

Hello,

i tried to catkin_make this but getting alot of errors from pcl For example:

/usr/include/pcl-1.10/pcl/point_types.h:627:1: error: ‘plusscalar’ is not a member of ‘pcl::traits’ 627 | POINT_CLOUD_REGISTER_POINT_STRUCT (pcl::BRISKSignature512,

Am i using the wrong version of pcl?

Hi,

We have used this repository for looking into livox lidar simulations in our current development setup. We use Gazebo 9.x, so I have made some changes to migrate the code so it's compatible.

Feel free to merge this into your repository, potentially into a different branch that the current one as it's a breaking change for those under Gazebo 9.x.

Thanks for the work on this.

/Jack

Hi,

The README explains how to run this via a launchfile, however I don't see one committed to the repository. Are you able to add it? Looks very promising for simulating the livox lidars.

Thanks for all the work!

/Jack

Hi, when I compile this package using catkin_make, it put a series error like this, even after compile dependence in ReadMe file:

ultiray_shape.h:43:23: error: ‘math’ does not name a type; did you mean ‘tanh’? void AddRay(const math::Vector3 &_start, const math::Vector3 &_end); ^~~~ tanh

OS: Ubuntu 18.04 Version: melodic

What should i do to deal that ?

think you for your time.

The package does not install some resources properly hence the command catkin_make install won't work as expected. This PR makes the changes to make it work (and compile with newer versions of Gazebo too).

Signed-off-by: Emiliano Borghi [email protected]

Hi,

Do you have any experience, or any plans, with implementing this simulator with GPU support using gpu_ray instead of ray in Gazebo?

We may be able to work on this in the near future, but if it's already planned or you have any helpful input, that would be great!

Thanks, Jack