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beltransen / velo2cam_gazebo

Repository including Gazebo models, plugins and worlds to test calibration algorithms for Lidar-camera setups.
http://wiki.ros.org/velo2cam_gazebo
GNU General Public License v2.0
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GPU Acceleration #9

Closed ardabbour closed 3 years ago

ardabbour commented 4 years ago

The Velodyne models here do not use GPU acceleration. Using a sensor of type gpu_ray instead of ray and a plugin filename of libgazebo_ros_velodyne_gpu_laser instead of libgazebo_ros_velodyne_laser allows for much faster performance.

This can be made parametric to support only-CPU setups as well if the models are made into xacro format, as in the velodyne_description package. For instance, here is the HDL-32E xacro description.

beltransen commented 4 years ago

Thanks for the information @ardabbour. I have checked this package and it seems to be working badly for some gazebo versions. Therefore, until a stable behaviour is provided for most popular gazebo releases, I'm sorry to say that we will have to stay with the CPU model.

Here below you can find what I get when running the example scenario in ROS Kinetic and Gazebo 7.0.0 (the one shipped with ROS Kinetic).

CPU version: Screenshot_20200520_111441

GPU version: Screenshot_20200520_110735