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Ouster gazebo simulation

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package for the simulation of the Ouster OS1-64 with ros and gazebo.

Part of the code is from the work of Wil Selby (link).

Requirements

If you want to use the GPU acceleration for the Ouster lidar simulation, you need to use a version of Gazebo including a GPU usage fix. For the Kinetic version and the Melodic version of ROS apt repositories (Gazebo 7.0.0 and 9.0.0), you will need to install up-to-date packages (from the OSRF apt repository, see note 1 below) or to build Gazebo from source. The minimum versions of Gazebo are:

  • for ROS Kinetic, Gazebo 7.14.0 or newer
  • for ROS Melodic, Gazebo 9.4.0 or newer

If you forget to disable the GPU acceleration (see note 2 below) using an unadapted version of Gazebo, here are the problems you can encounter:

  • with Gazebo7 version under 7.14.0, the simulated data can have a spherical appearance.
  • with Gazebo9 version under 9.4.0, we observed crashes during the development of the package.

NOTE 1: To install a up-to-date package from the OSRF apt repository, you can follow , following this guide (replacing sudo apt-get install gazebo11 with the wanted version of Gazebo).

NOTE 2: To disable GPU acceleration you can use the gpu parameter of the macro when adding the lidar to your Xacro model (setting it to false will disable the GPU acceleration).

Quickstart with catkin

mkdir ws
mkdir ws/src
cd ws/src
git clone --recursive https://github.com/gepetto/ouster-gazebo-simulation.git
cd ..
catkin_init_workspace
catkin build
catkin test

Quickstart without catkin

git clone --recursive https://github.com/gepetto/ouster-gazebo-simulation.git
mkdir ouster-gazebo-simulation/build
cd ouster-gazebo-simulation/build
cmake ..
make
make test
make install

EDIT

Added support for OS1-32 LiDARs, with meshes from official source