一、说明
因为课题原因，需要用到livox传感器，但是总拿着它去实验太费劲儿，所以想要在ros的gazebo环境里面进行仿真实验。在网上找了一圈，都没有详细的教程，所以自己摸索了一会儿，大致上解决了这个点。过程不难，在这里记录一下，一方面希望可以帮到其他有需要的人，另一方面也是给自己做个记录，防止忘了。
二、仿真环境
1、ubuntu20.04
2、ros是noetic
3、机器人小车用的是husky
三、配置过程
1、安装livox的SDK
下载链接：https://github.com/Livox-SDK/Livox-SDK
安装过程在代码包里面交代得比较清楚了，这里也贴一下。
git clone https://github.com/Livox-SDK/Livox-SDK.git
cd Livox-SDK
cd build && cmake ..
make
sudo make install
整个环境的兼容性比较高，编译没有出现什么错误。
2、安装livox的ROS驱动
下载链接：https://github.com/Livox-SDK/livox_ros_driver
安装步骤与一般的ros包无差别，下载后catkin_make即可。
git clone https://github.com/Livox-SDK/livox_ros_driver.git ws_livox/src
cd ws_livox
catkin_make
3、安装livox的仿真环境包
下载链接：https://github.com/Livox-SDK/livox_laser_simulation
注意：这个安装包，针对的是Ubuntu 18.04以及之前的版本，用Ubuntu 20.04编译的话，需要把它的CMakeLists.txt里面的编译器版本改为17，即：将下面这句话里的11改为17：
add_compile_options(-std=c++11)
否则会出现如下报错：
。。。error: ‘any’ is not a member of ‘std’。。。
详细可以参考，代码仓库的Issues#4
4、安装husky小车的仿真包
下载链接：https://github.com/husky/husky
安装过程不再赘述，期间可能会报一些依赖包缺失，缺啥安装啥就行。
5、把livox放到小车上（敲黑板！！！重点哈～）
1、思考，两个独立的包，小车仿真可以开启，livox的仿真也可以开启，没道理说它俩放不到一起去。既然每个包，都是urdf文件，那么，是不是可以说，只要把这俩urdf文件的关键信息结合到一起，就能完成了呢？！试试看。
2、然后想起来，以前也给小车添加过VLP-16激光雷达，这俩或许可以相通。添加VLP-16的教程，大家可以参考以下两个链接：
教程一：ROS仿真笔记之——gazebo配置velodyne（引用CSDN博主：gwpscut）
教程二：[gazebo仿真]给模型添加多线激光雷达（引用CSDN博主：Travis.X）
3、有了上面的基础，就可以开整了，我们可以观察到，其实添加一个传感器，主要就是两部分：
**第一部分：**在你想要添加到的小车的URDF文件里，创建一个实体，用来代表这个传感器，并且将它固定到小车上，比如，我们现在想要把livox添加到husky的小车上，那么第一步，就是打开husky功能包里面的/husky/husky_description/urdf/husky.urdf.xacro这个文件，然后在那一堆link标签后面，添加：
<link name="laser_livox">
<collision>
<origin xyz="0 0 0" rpy="0 0 0"/>
<geometry>
<box size="0.1 0.1 0.1"/>
</geometry>
</collision>
<visual>
<origin xyz="0 0 0" rpy="0 0 0"/>
<geometry>
<box size="0.1 0.1 0.1"/>
</geometry>
</visual>
</link>
这是创建了一个边长为0.1m的正方体，用来表示livox这个固态雷达，你也可以把它设置成你想要的形状，无关紧要，然后紧接着上面那段，添加一个关节，把它跟小车的坐标系连接起来：
<joint name="laser_livox_joint" type="fixed" >
<origin xyz="0 0 0.5" rpy="0 0 0" />
<parent link="base_link" />
<child link="laser_livox"/>
</joint>
上面的完成之后，就可以进入到第二部分了。
第二部分：为上面的小方块注入灵魂，为它赋予固态雷达的使命：
<xacro:property name="horizontal_fov" value="70.4"/>
<xacro:property name="vertical_fov" value="70.4"/>
<gazebo reference="laser_livox">
<sensor type="ray" name="laser_livox">
<pose>0 0 0 0 0 0</pose>
<visualize>true</visualize>
<update_rate>10</update_rate>
<!-- This ray plgin is only for visualization. -->
<plugin name="gazebo_ros_laser_controller" filename="liblivox_laser_simulation.so">
<ray>
<scan>
<horizontal>
<samples>100</samples>
<resolution>1</resolution>
<min_angle>${-horizontal_fov/360*M_PI}</min_angle>
<max_angle>${horizontal_fov/360*M_PI}</max_angle>
</horizontal>
<vertical>
<samples>50</samples>
<resolution>1</resolution>
<min_angle>${-vertical_fov/360*M_PI}</min_angle>
<max_angle>${vertical_fov/360*M_PI}</max_angle>
</vertical>
</scan>
<range>
<min>0.1</min>
<max>200</max>
<resolution>0.002</resolution>
</range>
<noise>
<type>gaussian</type>
<mean>0.0</mean>
<stddev>0.01</stddev>
</noise>
</ray>
<visualize>true</visualize>
<samples>10000</samples>
<downsample>1</downsample>
<csv_file_name>package://livox_laser_simulation/scan_mode/mid70.csv</csv_file_name>
<ros_topic>/scan</ros_topic>
</plugin>
</sensor>
</gazebo>
看到上面这一长串的标签型代码块，是不是内心来了个握草三连，这是啥？咋写的？为啥是这样？
别急，听我说，谢谢ni~不好意思，走错片场了。上面这一段其实就是livox_laser_simulation里的内容，具体文件是这里面的/livox_laser_simulation/urdf/livox_mid70.xacro。所以，只是把仿真包里面的核心代码复制过来了，至于这些参数，可以根据不同型号的雷达进行相应的调整。这里面把小方块和解释它身份的标签联系起来的是这句：
<gazebo reference="laser_livox">
到这里，这篇文章基本上就结束啦。最后贴上完整的小车urdf描述文件，供大家参考：
<?xml version="1.0"?>
<robot name="husky" xmlns:xacro="http://ros.org/wiki/xacro">
<!-- IMU Link -->
<xacro:arg name="imu_xyz" default="$(optenv HUSKY_IMU_XYZ 0.19 0 0.149)"/>
<xacro:arg name="imu_rpy" default="$(optenv HUSKY_IMU_RPY 0 -1.5708 3.1416)"/>
<xacro:arg name="imu_parent" default="$(optenv HUSKY_IMU_PARENT base_link)"/>
<!-- LMS1XX Laser Primary and Secondary -->
<xacro:arg name="laser_enabled" default="$(optenv HUSKY_LMS1XX_ENABLED 0)" />
<xacro:arg name="laser_topic" default="$(optenv HUSKY_LMS1XX_TOPIC front/scan)"/>
<xacro:arg name="laser_prefix" default="$(optenv HUSKY_LMS1XX_PREFIX front)"/>
<xacro:arg name="laser_parent" default="$(optenv HUSKY_LMS1XX_PARENT top_plate_link)"/>
<xacro:arg name="laser_xyz" default="$(optenv HUSKY_LMS1XX_XYZ 0.2206 0.0 0.00635)" />
<xacro:arg name="laser_rpy" default="$(optenv HUSKY_LMS1XX_RPY 0.0 0.0 0.0)" />
<xacro:arg name="laser_secondary_enabled" default="$(optenv HUSKY_LMS1XX_SECONDARY_ENABLED 0)" />
<xacro:arg name="laser_secondary_topic" default="$(optenv HUSKY_LMS1XX_SECONDARY_TOPIC rear/scan)"/>
<xacro:arg name="laser_secondary_prefix" default="$(optenv HUSKY_LMS1XX_SECONDARY_PREFIX rear)"/>
<xacro:arg name="laser_secondary_parent" default="$(optenv HUSKY_LMS1XX_SECONDARY_PARENT top_plate_link)"/>
<xacro:arg name="laser_secondary_xyz" default="$(optenv HUSKY_LMS1XX_SECONDARY_XYZ -0.2206 0.0 0.00635)" />
<xacro:arg name="laser_secondary_rpy" default="$(optenv HUSKY_LMS1XX_SECONDARY_RPY 0.0 0.0 3.14159)" />
<!-- UST10 Laser Primary and Secondary -->
<xacro:arg name="laser_ust10_front_enabled" default="$(optenv HUSKY_UST10_ENABLED 0)" />
<xacro:arg name="laser_ust10_front_topic" default="$(optenv HUSKY_UST10_TOPIC front/scan)" />
<xacro:arg name="laser_ust10_front_prefix" default="$(optenv HUSKY_UST10_PREFIX front)" />
<xacro:arg name="laser_ust10_front_parent" default="$(optenv HUSKY_UST10_PARENT top_plate_link)" />
<xacro:arg name="laser_ust10_front_xyz" default="$(optenv HUSKY_UST10_XYZ 0.2206 0.0 0.00635)" />
<xacro:arg name="laser_ust10_front_rpy" default="$(optenv HUSKY_UST10_RPY 0 0 0)" />
<xacro:arg name="laser_ust10_rear_enabled" default="$(optenv HUSKY_UST10_SECONDARY_ENABLED 0)" />
<xacro:arg name="laser_ust10_rear_topic" default="$(optenv HUSKY_UST10_SECONDARY_TOPIC rear/scan)" />
<xacro:arg name="laser_ust10_rear_prefix" default="$(optenv HUSKY_UST10_SECONDARY_PREFIX rear)" />
<xacro:arg name="laser_ust10_rear_parent" default="$(optenv HUSKY_UST10_SECONDARY_PARENT top_plate_link)" />
<xacro:arg name="laser_ust10_rear_xyz" default="$(optenv HUSKY_UST10_SECONDARY_XYZ -0.2206 0.0 0.00635)" />
<xacro:arg name="laser_ust10_rear_rpy" default="$(optenv HUSKY_UST10_SECONDARY_RPY 0 0 3.14159)" />
<!-- Velodyne LiDAR Primary and Secondary -->
<xacro:arg name="laser_3d_enabled" default="$(optenv HUSKY_LASER_3D_ENABLED 0)" />
<xacro:arg name="laser_3d_topic" default="$(optenv HUSKY_LASER_3D_TOPIC points)"/>
<xacro:arg name="laser_3d_tower" default="$(optenv HUSKY_LASER_3D_TOWER 1)"/>
<xacro:arg name="laser_3d_prefix" default="$(optenv HUSKY_LASER_3D_PREFIX )"/>
<xacro:arg name="laser_3d_parent" default="$(optenv HUSKY_LASER_3D_PARENT top_plate_link)"/>
<xacro:arg name="laser_3d_xyz" default="$(optenv HUSKY_LASER_3D_XYZ 0 0 0)" />
<xacro:arg name="laser_3d_rpy" default="$(optenv HUSKY_LASER_3D_RPY 0 0 0)" />
<xacro:arg name="laser_3d_secondary_enabled" default="$(optenv HUSKY_LASER_3D_SECONDARY_ENABLED 0)" />
<xacro:arg name="laser_3d_secondary_topic" default="$(optenv HUSKY_LASER_3D_SECONDARY_TOPIC secondary_points)"/>
<xacro:arg name="laser_3d_secondary_tower" default="$(optenv HUSKY_LASER_3D_SECONDARY_TOWER 1)"/>
<xacro:arg name="laser_3d_secondary_prefix" default="$(optenv HUSKY_LASER_3D_SECONDARY_PREFIX secondary_)"/>
<xacro:arg name="laser_3d_secondary_parent" default="$(optenv HUSKY_LASER_3D_SECONDARY_PARENT top_plate_link)"/>
<xacro:arg name="laser_3d_secondary_xyz" default="$(optenv HUSKY_LASER_3D_SECONDARY_XYZ 0 0 0)" />
<xacro:arg name="laser_3d_secondary_rpy" default="$(optenv HUSKY_LASER_3D_SECONDARY_RPY 0 0 -3.14159)" />
<!-- Realsense Camera Primary and Secondary -->
<xacro:arg name="realsense_enabled" default="$(optenv HUSKY_REALSENSE_ENABLED 0)" />
<xacro:arg name="realsense_topic" default="$(optenv HUSKY_REALSENSE_TOPIC realsense)" />
<xacro:arg name="realsense_prefix" default="$(optenv HUSKY_REALSENSE_PREFIX camera)" />
<xacro:arg name="realsense_parent" default="$(optenv HUSKY_REALSENSE_PARENT top_plate_link)" />
<xacro:arg name="realsense_xyz" default="$(optenv HUSKY_REALSENSE_XYZ 0 0 0)" />
<xacro:arg name="realsense_rpy" default="$(optenv HUSKY_REALSENSE_RPY 0 0 0)" />
<xacro:arg name="realsense_secondary_enabled" default="$(optenv HUSKY_REALSENSE_SECONDARY_ENABLED 0)" />
<xacro:arg name="realsense_secondary_topic" default="$(optenv HUSKY_REALSENSE_SECONDARY_TOPIC realsense_secondary)" />
<xacro:arg name="realsense_secondary_prefix" default="$(optenv HUSKY_REALSENSE_SECONDARY_PREFIX camera_secondary)" />
<xacro:arg name="realsense_secondary_parent" default="$(optenv HUSKY_REALSENSE_SECONDARY_PARENT top_plate_link)" />
<xacro:arg name="realsense_secondary_xyz" default="$(optenv HUSKY_REALSENSE_SECONDARY_XYZ 0 0 0)" />
<xacro:arg name="realsense_secondary_rpy" default="$(optenv HUSKY_REALSENSE_SECONDARY_RPY 0 0 0)" />
<!-- BlackflyS Camera Primary and Secondary -->
<xacro:arg name="blackfly_enabled" default="$(optenv HUSKY_BLACKFLY 0)"/>
<xacro:arg name="blackfly_mount_enabled" default="$(optenv HUSKY_BLACKFLY_MOUNT_ENABLED 1)"/>
<xacro:arg name="blackfly_mount_angle" default="$(optenv HUSKY_BLACKFLY_MOUNT_ANGLE 0)"/>
<xacro:arg name="blackfly_prefix" default="$(optenv HUSKY_BLACKFLY_PREFIX blackfly)"/>
<xacro:arg name="blackfly_parent" default="$(optenv HUSKY_BLACKFLY_PARENT top_plate_link)"/>
<xacro:arg name="blackfly_xyz" default="$(optenv HUSKY_BLACKFLY_XYZ 0 0 0)"/>
<xacro:arg name="blackfly_rpy" default="$(optenv HUSKY_BLACKFLY_RPY 0 0 0)"/>
<xacro:arg name="blackfly_secondary_enabled" default="$(optenv HUSKY_BLACKFLY_SECONDARY 0)"/>
<xacro:arg name="blackfly_secondary_mount_enabled" default="$(optenv HUSKY_BLACKFLY_SECONDARY_MOUNT_ENABLED 1)"/>
<xacro:arg name="blackfly_secondary_mount_angle" default="$(optenv HUSKY_BLACKFLY_SECONDARY_MOUNT_ANGLE 0)"/>
<xacro:arg name="blackfly_secondary_prefix" default="$(optenv HUSKY_BLACKFLY_SECONDARY_PREFIX blackfly_secondary)"/>
<xacro:arg name="blackfly_secondary_parent" default="$(optenv HUSKY_BLACKFLY_SECONDARY_PARENT top_plate_link)"/>
<xacro:arg name="blackfly_secondary_xyz" default="$(optenv HUSKY_BLACKFLY_SECONDARY_XYZ 0 0 0)"/>
<xacro:arg name="blackfly_secondary_rpy" default="$(optenv HUSKY_BLACKFLY_SECONDARY_RPY 0 0 0)"/>
<!-- Bumper Extension -->
<xacro:property name="husky_front_bumper_extend" value="$(optenv HUSKY_FRONT_BUMPER_EXTEND 0)" />
<xacro:property name="husky_rear_bumper_extend" value="$(optenv HUSKY_REAR_BUMPER_EXTEND 0)" />
<!-- Height of the sensor arch in mm. Must be either 510 or 300 -->
<xacro:arg name="sensor_arch" default="$(optenv HUSKY_SENSOR_ARCH 0)" />
<xacro:arg name="sensor_arch_height" default="$(optenv HUSKY_SENSOR_ARCH_HEIGHT 510)" />
<xacro:arg name="sensor_arch_xyz" default="$(optenv HUSKY_SENSOR_ARCH_OFFSET 0 0 0)"/>
<xacro:arg name="sensor_arch_rpy" default="$(optenv HUSKY_SENSOR_ARCH_RPY 0 0 0)"/>
<!-- Extras -->
<xacro:arg name="robot_namespace" default="$(optenv ROBOT_NAMESPACE /)" />
<xacro:arg name="urdf_extras" default="$(optenv HUSKY_URDF_EXTRAS empty.urdf)" />
<xacro:arg name="cpr_urdf_extras" default="$(optenv CPR_URDF_EXTRAS empty.urdf)" />
<!-- Included URDF/XACRO Files -->
<xacro:include filename="$(find husky_description)/urdf/accessories/hokuyo_ust10.urdf.xacro" />
<xacro:include filename="$(find husky_description)/urdf/accessories/intel_realsense.urdf.xacro"/>
<xacro:include filename="$(find husky_description)/urdf/accessories/flir_blackfly_mount.urdf.xacro"/>
<xacro:include filename="$(find husky_description)/urdf/accessories/sensor_arch.urdf.xacro"/>
<xacro:include filename="$(find husky_description)/urdf/accessories/sick_lms1xx_mount.urdf.xacro"/>
<xacro:include filename="$(find husky_description)/urdf/accessories/vlp16_mount.urdf.xacro"/>
<xacro:include filename="$(find husky_description)/urdf/decorations.urdf.xacro" />
<xacro:include filename="$(find husky_description)/urdf/wheel.urdf.xacro" />
<xacro:property name="M_PI" value="3.14159"/>
<!-- Base Size -->
<xacro:property name="base_x_size" value="0.98740000" />
<xacro:property name="base_y_size" value="0.57090000" />
<xacro:property name="base_z_size" value="0.24750000" />
<!-- Wheel Mounting Positions -->
<xacro:property name="wheelbase" value="0.5120" />
<xacro:property name="track" value="0.5708" />
<xacro:property name="wheel_vertical_offset" value="0.03282" />
<!-- Wheel Properties -->
<xacro:property name="wheel_length" value="0.1143" />
<xacro:property name="wheel_radius" value="0.1651" />
<!-- Base link is the center of the robot's bottom plate -->
<link name="base_link">
<visual>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="package://husky_description/meshes/base_link.dae" />
</geometry>
</visual>
<collision>
<origin xyz="${( husky_front_bumper_extend - husky_rear_bumper_extend ) / 2.0} 0 ${base_z_size/4}" rpy="0 0 0" />
<geometry>
<box size="${ base_x_size + husky_front_bumper_extend + husky_rear_bumper_extend } ${base_y_size} ${base_z_size/2}"/>
</geometry>
</collision>
<collision>
<origin xyz="0 0 ${base_z_size*3/4-0.01}" rpy="0 0 0" />
<geometry>
<box size="${base_x_size*4/5} ${base_y_size} ${base_z_size/2-0.02}"/>
</geometry>
</collision>
</link>
<!-- Base footprint is on the ground under the robot -->
<link name="base_footprint"/>
<joint name="base_footprint_joint" type="fixed">
<origin xyz="0 0 ${wheel_vertical_offset - wheel_radius}" rpy="0 0 0" />
<parent link="base_link" />
<child link="base_footprint" />
</joint>
<!-- Inertial link stores the robot's inertial information -->
<link name="inertial_link">
<inertial>
<mass value="46.034" />
<origin xyz="-0.00065 -0.085 0.062" />
<inertia ixx="0.6022" ixy="-0.02364" ixz="-0.1197" iyy="1.7386" iyz="-0.001544" izz="2.0296" />
</inertial>
</link>
<joint name="inertial_joint" type="fixed">
<origin xyz="0 0 0" rpy="0 0 0" />
<parent link="base_link" />
<child link="inertial_link" />
</joint>
<!-- Husky wheel macros -->
<xacro:husky_wheel wheel_prefix="front_left">
<origin xyz="${wheelbase/2} ${track/2} ${wheel_vertical_offset}" rpy="0 0 0" />
</xacro:husky_wheel>
<xacro:husky_wheel wheel_prefix="front_right">
<origin xyz="${wheelbase/2} ${-track/2} ${wheel_vertical_offset}" rpy="0 0 0" />
</xacro:husky_wheel>
<xacro:husky_wheel wheel_prefix="rear_left">
<origin xyz="${-wheelbase/2} ${track/2} ${wheel_vertical_offset}" rpy="0 0 0" />
</xacro:husky_wheel>
<xacro:husky_wheel wheel_prefix="rear_right">
<origin xyz="${-wheelbase/2} ${-track/2} ${wheel_vertical_offset}" rpy="0 0 0" />
</xacro:husky_wheel>
<!-- Husky Decorations -->
<xacro:husky_decorate />
<!--
Add the main sensor arch if the user has specifically enabled it, or if a sensor
requires it for mounting
-->
<xacro:if value="$(arg sensor_arch)">
<xacro:sensor_arch prefix="" parent="top_plate_link" size="$(arg sensor_arch_height)">
<origin xyz="$(arg sensor_arch_xyz)" rpy="$(arg sensor_arch_rpy)"/>
</xacro:sensor_arch>
</xacro:if>
<!--
SICK LMS1XX Priamry and Secondary Laser Scans
-->
<xacro:if value="$(arg laser_enabled)">
<xacro:sick_lms1xx_mount prefix="$(arg laser_prefix)"/>
<xacro:sick_lms1xx frame="$(arg laser_prefix)_laser" topic="$(arg laser_topic)" robot_namespace="$(arg robot_namespace)"/>
<joint name="$(arg laser_prefix)_laser_mount_joint" type="fixed">
<origin xyz="$(arg laser_xyz)" rpy="$(arg laser_rpy)" />
<parent link="$(arg laser_parent)" />
<child link="$(arg laser_prefix)_laser_mount" />
</joint>
</xacro:if>
<xacro:if value="$(arg laser_secondary_enabled)">
<xacro:sick_lms1xx_mount prefix="$(arg laser_secondary_prefix)"/>
<xacro:sick_lms1xx frame="$(arg laser_secondary_prefix)_laser" topic="$(arg laser_secondary_topic)" robot_namespace="$(arg robot_namespace)"/>
<joint name="$(arg laser_secondary_prefix)_laser_mount_joint" type="fixed">
<origin xyz="$(arg laser_secondary_xyz)" rpy="$(arg laser_secondary_rpy)" />
<parent link="$(arg laser_secondary_parent)" />
<child link="$(arg laser_secondary_prefix)_laser_mount" />
</joint>
</xacro:if>
<!--
Hokuyo UST10 Primary and Secondary Laser Scans
-->
<xacro:if value="$(arg laser_ust10_front_enabled)">
<xacro:hokuyo_ust10_mount topic="$(arg laser_ust10_front_topic)" prefix="$(arg laser_ust10_front_prefix)" parent_link="$(arg laser_ust10_front_parent)">
<origin xyz="$(arg laser_ust10_front_xyz)" rpy="$(arg laser_ust10_front_rpy)" />
</xacro:hokuyo_ust10_mount>
</xacro:if>
<xacro:if value="$(arg laser_ust10_rear_enabled)">
<xacro:hokuyo_ust10_mount topic="$(arg laser_ust10_rear_topic)" prefix="$(arg laser_ust10_rear_prefix)" parent_link="$(arg laser_ust10_rear_parent)">
<origin xyz="$(arg laser_ust10_rear_xyz)" rpy="$(arg laser_ust10_rear_rpy)" />
</xacro:hokuyo_ust10_mount>
</xacro:if>
<!-- Intel Realsense Primary and Secondary -->
<xacro:if value="$(arg realsense_enabled)">
<link name="$(arg realsense_prefix)_realsense_mountpoint"/>
<joint name="$(arg realsense_prefix)_realsense_mountpoint_joint" type="fixed">
<origin xyz="$(arg realsense_xyz)" rpy="$(arg realsense_rpy)" />
<parent link="$(arg realsense_parent)"/>
<child link="$(arg realsense_prefix)_realsense_mountpoint" />
</joint>
<xacro:intel_realsense_mount prefix="$(arg realsense_prefix)" topic="$(arg realsense_topic)" parent_link="$(arg realsense_prefix)_realsense_mountpoint"/>
</xacro:if>
<xacro:if value="$(arg realsense_secondary_enabled)">
<link name="$(arg realsense_secondary_prefix)_realsense_mountpoint"/>
<joint name="$(arg realsense_secondary_prefix)_realsense_mountpoint_joint" type="fixed">
<origin xyz="$(arg realsense_secondary_xyz)" rpy="$(arg realsense_secondary_rpy)" />
<parent link="$(arg realsense_secondary_parent)"/>
<child link="$(arg realsense_secondary_prefix)_realsense_mountpoint" />
</joint>
<xacro:intel_realsense_mount prefix="$(arg realsense_secondary_prefix)" topic="$(arg realsense_secondary_topic)" parent_link="$(arg realsense_secondary_prefix)_realsense_mountpoint"/>
</xacro:if>
<!-- BlackflyS Camera Primary and Secondary -->
<xacro:if value="$(arg blackfly_enabled)">
<xacro:flir_blackfly_mount prefix="$(arg blackfly_prefix)"
parent="$(arg blackfly_parent)"
mount_enabled="$(arg blackfly_mount_enabled)"
mount_angle="$(arg blackfly_mount_angle)">
<origin xyz="$(arg blackfly_xyz)" rpy="$(arg blackfly_rpy)"/>
</xacro:flir_blackfly_mount>
</xacro:if>
<xacro:if value="$(arg blackfly_secondary_enabled)">
<xacro:flir_blackfly_mount prefix="$(arg blackfly_secondary_prefix)"
parent="$(arg blackfly_secondary_parent)"
mount_enabled="$(arg blackfly_secondary_mount_enabled)"
mount_angle="$(arg blackfly_secondary_mount_angle)">
<origin xyz="$(arg blackfly_secondary_xyz)" rpy="$(arg blackfly_secondary_rpy)"/>
</xacro:flir_blackfly_mount>
</xacro:if>
<!--******************* add VLP laser Link *************************************-->
<joint name="VLP16_base_mount_joint" type="fixed">
<origin xyz="0 0.0 0.25" rpy="0.0 0.0 0.0"/>
<parent link="base_link"/>
<child link="VLP16_base_link"/>
</joint>
<link name="VLP16_base_link">
<visual>
<geometry>
<mesh filename="package://velodyne_description/meshes/VLP16_base_1.dae" />
</geometry>
</visual>
<visual>
<geometry>
<mesh filename="package://velodyne_description/meshes/VLP16_base_2.dae" />
</geometry>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0.03585"/>
<geometry>
<cylinder radius="0.0516" length="0.0717"/>
</geometry>
</collision>
</link>
<joint name="VLP16_base_scan_joint" type="fixed" >
<origin xyz="0 0 0.0377" rpy="0 0 0" />
<parent link="VLP16_base_link" />
<child link="velodyne"/>
</joint>
<link name="velodyne">
<inertial>
<mass value="0.01"/>
<origin xyz="0 0 0"/>
<inertia ixx="1e-7" ixy="0" ixz="0" iyy="1e-7" iyz="0" izz="1e-7"/>
</inertial>
<visual>
<origin xyz="0 0 -0.0377" />
<geometry>
<mesh filename="package://velodyne_description/meshes/VLP16_scan.dae" />
</geometry>
</visual>
</link>
<link name="laser_livox">
<collision>
<origin xyz="0 0 0" rpy="0 0 0"/>
<geometry>
<box size="0.1 0.1 0.1"/>
</geometry>
</collision>
<visual>
<origin xyz="0 0 0" rpy="0 0 0"/>
<geometry>
<box size="0.1 0.1 0.1"/>
</geometry>
</visual>
</link>
<joint name="laser_livox_joint" type="fixed" >
<origin xyz="0 0 0.5" rpy="0 0 0" />
<parent link="base_link" />
<child link="laser_livox"/>
</joint>
<!--*********************************************************************-->
<!--*********************************************************************-->
<!-- add imu llink -->
<link name="imu_link">
<visual>
<geometry>
<box size="0.015 0.015 0.007"/>
</geometry>
</visual>
</link>
<joint name ="imu_joints" type="fixed">
<origin xyz="-0.10 0.0 0.02" rpy="0.0 0.0 0.0"/>
<parent link="base_link"/>
<child link="imu_link"/>
</joint>
<!--*********************************************************************-->
<!-- add laser simulation plugines adaptored for rplidar A1M8 -->
<gazebo reference="velodyne">
<sensor type="ray" name="velodyne-VLP16"> <!-- ray --> <!-- gpu_ray -->
<pose>0 0 0 0 0 0</pose>
<visualize>false</visualize>
<update_rate>10</update_rate>
<ray>
<scan>
<horizontal>
<samples>1875</samples>
<resolution>1</resolution>
<min_angle>0.9</min_angle>
<max_angle>130</max_angle>
</horizontal>
<vertical>
<samples>16</samples>
<resolution>1</resolution>
<min_angle>-0.26</min_angle> <!-- 15 -->
<max_angle> 0.26</max_angle>
</vertical>
</scan>
<range>
<min>0.9</min>
<max>131</max>
<resolution>0.001</resolution>
</range>
<noise>
<type>gaussian</type>
<mean>0.0</mean>
<stddev>0.0</stddev>
</noise>
</ray>
<plugin name="gazebo_ros_laser_controller" filename="libgazebo_ros_velodyne_laser.so"> <!-- libgazebo_ros_velodyne_gpu_laser --> <!-- libgazebo_ros_velodyne_laser -->
<topicName>/velodyne_points</topicName>
<frameName>velodyne</frameName>
<organize_cloud>false</organize_cloud>
<min_range>0.9</min_range>
<max_range>130</max_range>
<gaussianNoise>0.008</gaussianNoise>
</plugin>
</sensor>
</gazebo>
<!--*********************************************************************-->
<xacro:property name="horizontal_fov" value="70.4"/>
<xacro:property name="vertical_fov" value="70.4"/>
<gazebo reference="laser_livox">
<sensor type="ray" name="laser_livox">
<pose>0 0 0 0 0 0</pose>
<visualize>true</visualize>
<update_rate>10</update_rate>
<!-- This ray plgin is only for visualization. -->
<plugin name="gazebo_ros_laser_controller" filename="liblivox_laser_simulation.so">
<ray>
<scan>
<horizontal>
<samples>100</samples>
<resolution>1</resolution>
<min_angle>${-horizontal_fov/360*M_PI}</min_angle>
<max_angle>${horizontal_fov/360*M_PI}</max_angle>
</horizontal>
<vertical>
<samples>50</samples>
<resolution>1</resolution>
<min_angle>${-vertical_fov/360*M_PI}</min_angle>
<max_angle>${vertical_fov/360*M_PI}</max_angle>
</vertical>
</scan>
<range>
<min>0.1</min>
<max>200</max>
<resolution>0.002</resolution>
</range>
<noise>
<type>gaussian</type>
<mean>0.0</mean>
<stddev>0.01</stddev>
</noise>
</ray>
<visualize>true</visualize>
<samples>10000</samples>
<downsample>1</downsample>
<csv_file_name>package://livox_laser_simulation/scan_mode/mid70.csv</csv_file_name>
<ros_topic>/scan</ros_topic>
</plugin>
</sensor>
</gazebo>
<gazebo>
<plugin name="p3d_base_controller" filename="libgazebo_ros_p3d.so">
<alwaysOn>true</alwaysOn>
<updateRate>100.0</updateRate>
<bodyName>velodyne</bodyName>
<topicName>/ground_truth</topicName>
<gaussianNoise>0.0</gaussianNoise>
<frameName>map</frameName>
<xyzOffsets>0 0 0</xyzOffsets>
<rpyOffsets>0 0 0</rpyOffsets>
</plugin>
</gazebo>
<!-- add imu link simlations plugines -->
<gazebo reference="imu_link">
<gravity>true</gravity>
<sensor name="imu_sensor" type="imu">
<always_on>true</always_on>
<update_rate>100</update_rate>
<visualize>false</visualize>
<topic>/imu/data</topic>
<plugin filename="libgazebo_ros_imu_sensor.so" name="imu_plugin">
<topicName>/imu/data</topicName>
<bodyName>imu_link</bodyName>
<updateRateHZ>100.0</updateRateHZ>
<gaussianNoise>0.0</gaussianNoise>
<xyzOffset>0 0 0</xyzOffset>
<rpyOffset>0 0 0</rpyOffset>
<frameName>imu_link</frameName>
<initialOrientationAsReference>false</initialOrientationAsReference>
</plugin>
<pose>0 0 0 0 0 0</pose>
</sensor>
</gazebo>
<!--*********************************************************************-->
<gazebo>
<plugin name="gazebo_ros_control" filename="libgazebo_ros_control.so">
<robotNamespace>$(arg robot_namespace)</robotNamespace>
<legacyModeNS>true</legacyModeNS>
</plugin>
</gazebo>
<gazebo>
<plugin name="imu_controller" filename="libhector_gazebo_ros_imu.so">
<robotNamespace>$(arg robot_namespace)</robotNamespace>
<updateRate>100.0</updateRate>
<bodyName>base_link</bodyName>
<topicName>imu/data</topicName>
<accelDrift>0.005 0.005 0.005</accelDrift>
<accelGaussianNoise>0.005 0.005 0.005</accelGaussianNoise>
<rateDrift>0.005 0.005 0.005 </rateDrift>
<rateGaussianNoise>0.005 0.005 0.005 </rateGaussianNoise>
<headingDrift>0.005</headingDrift>
<headingGaussianNoise>0.005</headingGaussianNoise>
</plugin>
</gazebo>
<gazebo>
<plugin name="gps_controller" filename="libhector_gazebo_ros_gps.so">
<robotNamespace>$(arg robot_namespace)</robotNamespace>
<updateRate>40</updateRate>
<bodyName>base_link</bodyName>
<frameId>base_link</frameId>
<topicName>navsat/fix</topicName>
<velocityTopicName>navsat/vel</velocityTopicName>
<referenceLatitude>49.9</referenceLatitude>
<referenceLongitude>8.9</referenceLongitude>
<referenceHeading>0</referenceHeading>
<referenceAltitude>0</referenceAltitude>
<drift>0.0001 0.0001 0.0001</drift>
</plugin>
</gazebo>
<!-- Optional custom includes. -->
<xacro:include filename="$(arg urdf_extras)" />
<!-- Optional for Clearpath internal softwares -->
<xacro:include filename="$(arg cpr_urdf_extras)" />
</robot>
为了节省篇幅，把文件里面的许可信息略去了。
四、参考文献
[1] ROS仿真笔记之——gazebo配置velodyne（引用CSDN博主：gwpscut）
[2] [gazebo仿真给模型添加多线激光雷达（引用CSDN博主：Travis.X）
824
被折叠的 条评论
为什么被折叠?
到【灌水乐园】发言
