Version 1 of the simulation of a VLP-16 Lidar on a floating 6DOF frame observing measurements of 3 distinct objects.
Dependencies:
- velodyne_simulator package
- Gazebo
Note: Tested on ROS Melodic
Implementation:
The Lidar pose is controlled with geometry_msgs/Twist
by publishing to /cmd_vel
Launch simulation:
$ roslaunch sim_description sim.launch
Keyboard Teleop:
$ rosrun teleop_twist_keyboard teleop_twist_keyboard.py
To Do:
- Adding
/odom
functionality to the 6DOF plugin for ground truth of Lidar pose - Adding
/odom_cov
or/imu
functionality to the plugin for realistic noisy measurements of Lidar pose - Adding rudimentary feature detection to extract sensor measurements that correspond to features (here, spheres)