Livox-LiDAR-Camera System Simulator

A package to provide plug-in for Livox Series LiDAR. This work is inherited from EpsAvlc and LvFengchi's work: livox_laser_simulation, we would like to thank for their contributions.

In this repository, we aim to build a tool that can simulate the data acquisition process of a multi-sensor (LiDAR-camera) system.

Requirements

ROS(=Kinectic/Melodic)
Gazebo (= 7.0/9.0)
OpenCV (>3.0)and

Run

run following command to start a Avia-zed2 system simulator:

roslaunch livox_laser_simulation avia_zed2_scence.launch

and for MID40:

roslaunch livox_laser_simulation mid40_zed2_scence.launch

horizon:

roslaunch livox_laser_simulation horizon_zed2_scence.launch
After the whole gazebo scene is start up, run the data grab tool to save the data.

rosrun livox_sim_tool data_recorder
further more, if we want to map the laser reflectance intensity on the point clouds according to the color of the materials, run:

rosrun livox_sim_tool intensity_mapping_<****>, where <****> is the type of calibration board.
Results
The scan model of Livox LiDAR:
The zed camera combined with Livox LiDAR:
The Gazebo scene:
The rviz visulation :

Point clouds with reflectance intensity which mapped according to the color of the materials:

Branchs

main branch

enviroment: ROS kinetic + gazebo7
pointcloud type:
- sensor_msg::pointcloud
- sensor_msg::pointcloud2(pcl::Pointcloud<pcl::PointXYZ>)
- sensor_msg::pointcloud2(pcl::Pointcloud<pcl::LivoxPointXyzrtl>)
- livox_ros_driver::CustomMsg

gazebo9

enviroment: ROS melodic + gazebo7
pointcloud type: sensor_msg::pointcloud2(pcl::Pointcloud<pcl::PointXYZ>)

Dependence

livox_ros_driver

Usage

If you use gazebo 9, checkout to "gazebo-9-ver" branch. The gazebo-9 version is maintained by jp-ipu.

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

    roslauch livox_laser_simulation livox_simulation.launch

to see.

Change sensor by change the following lines in the robot.xacro into another xacro file.

  <xacro:include filename="$(find livox_laser_simulation)/urdf/livox_horizon.xacro"/>
  <Livox_Horizon name="livox" visualize="true" publish_pointcloud_type="2"/>

avia.csv
horizon.csv
mid40.csv
mid70.csv
tele.csv

Configuration(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
publish_pointcloud_type: 0 // 0 for sensor_msgs::PointCloud, 1 for sensor_msgs::Pointcloud2(PointXYZ), 2 for sensor_msgs::PointCloud2(LivoxPointXyzrtl) 3 for livox_ros_driver::CustomMsg.

LiDAR-Camera pose: (set LiDAR coordinate system as the world system)

    <arg name="zed2_x" default="0.04"/>
    <arg name="zed2_y" default="0.08"/>
    <arg name="zed2_z" default="-0.061"/>

    <arg name="zed2_roll" default="0.015"/>
    <arg name="zed2_pitch" default="0.032"/>
    <arg name="zed2_yaw" default="0.061"/>

Simulation for mapping

Currently Fast-LIO is tested when publish_pointcloud_type = 3。

Enjoy it and feel free to report bugs.

Tomato1107 / Livox_Cam_Simulator