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Livox-SDK / livox_laser_simulation

A package to provide plug-in for Livox Series LiDAR.
MIT License
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run the simulation,rivz has pointcloud topic,but gazebo does not have laser light #13

Open sunnyow opened 1 year ago

sunnyow commented 1 year ago

i have correctly install livox_sdk and livox_ros_driver 图片2 图片1

sdwyc commented 1 year ago

@sunnyow Hi, Excuse me! Have you solve the problem? I also encounter the similar problem.

john-maidbot commented 3 months ago

This happens because in the urdf, the tag has been placed under the tag, so Gazebo does not parse it properly. This is ok for the plugin, since it is handling the ray casting rather than Gazebo, but as you noticed, it breaks the Gazebo visualization. If you want to visualize the sensor rays in gazebo, you will need to copy the block so it is under the <sensor type="ray...> block. However, this will not quite match the non-uniform pattern of the plugin. It will visualize the rays as a uniform, multiray scan.

e.g. for the mid360, you would copy this block https://github.com/Livox-SDK/livox_laser_simulation/blob/1cce1073633a062b92e30243a4c2920e45551bb5/urdf/livox_mid360.xacro#L27

and paste it so it is directly under this block https://github.com/Livox-SDK/livox_laser_simulation/blob/1cce1073633a062b92e30243a4c2920e45551bb5/urdf/livox_mid360.xacro#L21