rmagine_ros

Robots simulate their sensors in triangle meshes.

ROS integration of rmagine library and examples for:

• Basic usage of rmagine library
• Simulating different attributes for intersections
• Advanced examples to speed up your applications

Dependencies

• rmagine library (Required) for simulation
• mesh_tools (Optional) for visualization of loaded meshes in RViz

If you have problems compiling mesh_tools: We used mesh_tools at version 1.0.1. Additionally we placed some CATKIN_IGNORE files to subpackages we don't need. Calling git status in mesh_tools gives:

user@pc:~/catkin_ws/src/mesh_tools$ git status
HEAD detached at 1.0.1
Untracked files:
  (use "git add <file>..." to include in what will be committed)
	hdf5_map_io/CATKIN_IGNORE
	mesh_msgs_conversions/CATKIN_IGNORE
	mesh_msgs_hdf5/CATKIN_IGNORE
	rviz_map_plugin/CATKIN_IGNORE

Nodes

The node's arguments can be read in the example launch files.

lidar_simulator

Simulate a lidar sensor.

camera_simulator

Simulate a depth camera sensor.

o1dn_simulator

Simulate a O1Dn sensor.

ondn_simulator

Simulate a OnDn sensor.