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Velodyne VLP 16 plugin

asked 2018-07-21 05:39:34 -0600

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 -0600

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>
    <update_rate>10</update_rate>
    <ray>
      <scan>
        <horizontal>
          <samples>360</samples>
          <resolution>1</resolution>
          <min_angle>-${M_PI}</min_angle>
          <max_angle> ${M_PI}</max_angle>
        </horizontal>
        <vertical>
          <samples>16</samples>
          <resolution>1</resolution>
          <min_angle>-${15.0*M_PI/180.0}</min_angle>
          <max_angle> ${15.0*M_PI/180.0}</max_angle>
        </vertical>
      </scan>
      <range>
        <min>1.0</min>
        <max>140.0</max>
        <resolution>0.001</resolution>
      </range>
      <noise>
        <type>gaussian</type>
        <mean>0.0</mean>
        <stddev>0.0</stddev>
      </noise>
    </ray>
    <plugin name="gazebo_ros_laser_controller" filename="libgazebo_ros_velodyne_laser.so">
      <topicName>${ros_topic}</topicName>
      <frameName>${name}_link</frameName>
      <min_range>1.0</min_range>
      <max_range>140.0</max_range>
      <gaussianNoise>0.008</gaussianNoise>
    </plugin>
  </sensor>
</gazebo>

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 imageRihab ( 2018-07-21 14:40:32 -0600 )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 imageChoco93 ( 2018-07-22 01:58:12 -0600 )edit

and kindly accept the answer if this served you question.

Choco93 gravatar imageChoco93 ( 2018-07-22 01:59:03 -0600 )edit

Ok, thanks .

Rihab gravatar imageRihab ( 2018-07-22 08:30:23 -0600 )edit

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Asked: 2018-07-21 05:39:34 -0600

Seen: 578 times

Last updated: Jul 21 '18