Gazebo仿真一个Mid360平台并运行FastLio建图（接Z550仿真Mid360）

0 引言

使用设备及环境：虚拟机Ubuntu20.04+gazebo11+pcl1.10

1 仿真Mid360点云

接之前的ZD550仿真Mid360平台，之前的点云格式为pointcloud，而FastLio算法所需雷达点云格式为大疆自定义点云类型-CustomMsg，需要对之前的驱动文件进行修改，即对livox_laser_simulation/src下面的livox_points_plugin.cpp进行修改。

livox_points_plugin.cpp:

int argc = 0;
char **argv = nullptr;
auto curr_scan_topic = sdf->Get<std::string>("ros_topic");
ROS_INFO_STREAM("ros topic name:" << curr_scan_topic);
ros::init(argc, argv, curr_scan_topic);
rosNode.reset(new ros::NodeHandle);
rosPointPub = rosNode->advertise<sensor_msgs::PointCloud>("/scan", 5);
raySensor = _parent;
auto sensor_pose = raySensor->Pose();

可以看到代码中：rosPointPub = rosNode->advertise<sensor_msgs::PointCloud>("/scan", 5);仅发布了sensor_msgs::PointCloud类型的点云数据。

分别查看pointcloud和customMsg类型的点云数据格式
sensor_msgs/pointcloud:

std_msgs/Header header
geometry_msgs/Point32[] points
sensor_msgs/ChannelFloat32[] channels

livox_ros_driver/CustomMsg:

std_msgs/Header header
  uint32 seq
  time stamp
  string frame_id
uint64 timebase
uint32 point_num
uint8 lidar_id
uint8[3] rsvd
livox_ros_driver/CustomPoint[] points
  uint32 offset_time
  float32 x
  float32 y
  float32 z
  uint8 reflectivity
  uint8 tag
  uint8 line

为了能够发布 livox_ros_driver/CustomMsg类型点云，这部分代码主要参考其他博客：点云格式转换：将 ros PointCloud2格式数据转为livox CustomMsg格式-CSDN博客

修改代码如下：

（1）首先定义话题发布方livox_pub:

livox_pub = rosNode->advertise<livox_ros_driver::CustomMsg>(curr_scan_topic, 5);