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Velodyne VLP 16 plugin

asked 2018-07-21 05:39:34 -0500

Rihab gravatar image

hi, I'm trying to run Velodyne VLP 16 in gazebo , I want to understand how it works, how many points per second we have, and and i want to know if the time of the simulation is the same of the real time. So I tried to understand the plugin of Velodyne but I can't find the answers to my question, is there anyone can help?

Thanks for you help.

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answered 2018-07-21 09:34:05 -0500

Choco93 gravatar image

When running in a simulated Velodyne VLP-16 in gazebo, you can check the real time factor. I used it almost an year ago and it ran at 0.3 * time real time, but it will vary depending upon your pc specs. At that point plugin ran on CPU, and around a month ago they released it with gpu support so it would definitely improve real time factor alot.

<gazebo reference="${name}_link">
  <sensor type="${sensor_type}" name="VLP16">
    <pose>0 0 0 0 0 0</pose>
          <max_angle> ${M_PI}</max_angle>
          <max_angle> ${15.0*M_PI/180.0}</max_angle>
    <plugin name="gazebo_ros_laser_controller" filename="">

It's pretty straight forward, beams (samples) along x, along y, M_PI is 3.14, and ranges is between 1-140 m, that's more or less what actual thing has. You can also add noise if you wish. Hope this answered your question.

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so the velodyne vlp 16 uses the clock of our pc ?

Rihab gravatar image Rihab  ( 2018-07-21 14:40:32 -0500 )edit

this plugin libgazebo_ros_velodyne_laser used clock but as I mentioned they have added functionality to work with gpu link, and it publishes pointcloud. If you use libgazebo_ros_gpu_laser, it uses gpu, but outputs laserscan.

Choco93 gravatar image Choco93  ( 2018-07-22 01:58:12 -0500 )edit

and kindly accept the answer if this served you question.

Choco93 gravatar image Choco93  ( 2018-07-22 01:59:03 -0500 )edit

Ok, thanks .

Rihab gravatar image Rihab  ( 2018-07-22 08:30:23 -0500 )edit

Would 16 channels mean we are able to see 16 layers when we visualize it? I am not able to see anything of the sort in rviz. Just seeing 1 layer of points in RVIZ. Can somebody help?

Kaushal gravatar image Kaushal  ( 2023-08-03 16:36:32 -0500 )edit

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Asked: 2018-07-21 05:39:34 -0500

Seen: 1,605 times

Last updated: Jul 21 '18