Livox_Mid360+IMU仿真搭建_mid360仿真
前言
本文是对在gazebo里搭建一个livox mid360 + 惯导仿真平台测试 FAST-LIO2的实现，此博文中存在部分需要修改代码的地方，因此在本文中做出更详细的说明。
注：
在最新的文章做了修改：Faster-LIO+Livox-mid360+XTDrone仿真搭建
资源包安装
注：由于livox点云的格式是CustomMsg，而rviz中主要使用PointCloud和PointCloud2，转换不太方便，因此不使用官方提供的软件包，使用他人修改后的软件包。但此软件包开发时间较早，缺少mid360相关的文件，在文末提供了mid360相关文件的下载链接，也可直接从官方链接下载
cd ~/catkin_ws/srcgit clone https://github.com/Luchuanzhao/Livox_simulation_customMsg.gitmv Livox_simulation_customMsg livox_laser_simulation还需安装livox_ros_driver
cd ~/catkin_ws/srcgit clone https://github.com/Livox-SDK/livox_ros_driver.git再修改csv文件路径/点云格式
mid360.csv文件可从提供的资源包中得到
#将第54行改为实际的csv文件路径cd ~/catkin_ws/src/livox_laser_simulation/srccode livox_points_plugin.cpp#例如（/home/byy/catkin_ws/src/livox_laser_simulation/scan_mode/mid360.csv）#将101行改为自己所需要的点云格式：0->PointCloud；1/2->PointCloud2；3->CustomMsg#例如：publishPointCloudType = 1;还需注释掉340、341行的坐标变换代码，要不然rviz中得不到图像
//tfBroadcaster->sendTransform(// tf::StampedTransform(tf, ros::Time::now(), raySensor->ParentName(), raySensor->Name()));模型搭建
cd ~/catkin_ws/src/livox_laser_simulation/urdfcode mid360_IMU_platform.xacro使用原博文提供的xacro代码，并修改其中的部分细节，具体如下。
<robot xmlns:xacro=\"http://www.ros.org/wiki/xacro\" name=\"example\"> <link name=\"base_link\" /> <xacro:macro name=\"LivoxMid360_IMU_Plantform\" params=\"name:=mid360_imu_plantform parent_link_name:=base_link x:=0.0 y:=0.0 z:=0.05 r:=0.0 p:=0.0 yaw:=0.0\"> <joint name=\"${name}_joint\" type=\"fixed\" > <parent link=\"${parent_link_name}\" /> <child link=\"link_platform\" /> <origin xyz=\"${x} ${y} ${z}\" rpy=\"${r} ${p} ${yaw}\" /> </joint> <link name=\"link_platform\" > <visual> <geometry> <box size=\"0.15 0.1 0.1\" /> </geometry> </visual> <collision> <geometry> <box size=\"0.15 0.1 0.1\" /> </geometry> </collision> <inertial> <origin xyz=\"0 0 0\"/> <mass value=\"0.001\"/> <inertia ixx=\"0.001\" ixy=\"0.0\" ixz=\"0.0\" iyy=\"0.001\" iyz=\"0.0\" izz=\"0.001\" /> </inertial> </link> <gazebo reference=\"link_platform\"> <turnGravityOff>false</turnGravityOff> </gazebo> <joint name=\"lidar_platform_joint\" type=\"fixed\" > <parent link=\"link_platform\" /> <child link=\"livox_base\" /> <origin xyz=\"0 0 0.08\" rpy=\"0 0 0\" /> </joint> <xacro:include filename=\"$(find livox_laser_simulation)/urdf/livox_mid360.xacro\"/> <link name=\"imu_base_link\"> <visual> <origin xyz=\"0 0 0\" rpy=\"0 0 0\" /> <geometry > <box size=\"0.03 0.03 0.03\" /> </geometry> </visual> <collision> <origin xyz=\"0 0 0\" rpy=\"0 0 0\" /> <geometry > <box size=\"0.03 0.03 0.03\" /> </geometry> </collision> <inertial> <mass value=\"0.001\"/> <inertia ixx=\"0.001\" ixy=\"0.0\" ixz=\"0.0\" iyy=\"0.001\" iyz=\"0.0\" izz=\"0.001\"/> </inertial> </link> <gazebo reference=\"imu_base_link\"> <material>Gazebo/Green</material> <turnGravityOff>false</turnGravityOff> </gazebo> <joint name=\"imu_platform_joint\" type=\"fixed\"> <parent link=\"link_platform\"/> <child link=\"imu_base_link\"/> <origin xyz=\"0.05 0 0.065\" rpy=\"0 0 0\" /> <axis xyz=\"0 0 1\" /> </joint> <gazebo reference=\"imu_base_link\"> <gravity>true</gravity> <sensor name=\"imu_sensor\" type=\"imu\"> <always_on>true</always_on> <update_rate>200</update_rate> <visualize>true</visualize> <topic>/livox/imu</topic> <plugin filename=\"libgazebo_ros_imu_sensor.so\" name=\"imu_plugin\"> <topicName>/livox/imu</topicName> <bodyName>imu_base_link</bodyName> <updateRateHZ>200.0</updateRateHZ> <gaussianNoise>0.00329</gaussianNoise> <xyzOffset>0 0 0</xyzOffset> <rpyOffset>0 0 0</rpyOffset> <frameName>imu_base_link</frameName> </plugin> <pose>0 0 0 0 0 0</pose> </sensor> </gazebo> </xacro:macro><xacro:LivoxMid360_IMU_Plantform/></robot>在meshes文件夹中引入提供的mid360.dae、mid360_rules.dae文件
还需在urdf文件夹中编写livox_mid360.xacro文件，并修改部分代码，具体如下。
<robot xmlns:xacro=\"http://ros.org/wiki/xacro\"> <xacro:property name=\"M_PI\" value=\"3.14159\"/> <xacro:property name=\"laser_min_range\" value=\"0.1\"/> <xacro:property name=\"laser_max_range\" value=\"200.0\"/> <xacro:property name=\"ros_topic\" value=\"scan\"/> <xacro:property name=\"samples\" value=\"24000\"/> <xacro:property name=\"downsample\" value=\"1\"/> <xacro:macro name=\"null_inertial\"> <inertial> <mass value=\"0.1\"/> <inertia ixx=\"0.01\" ixy=\"0\" ixz=\"0\" iyy=\"0.01\" iyz=\"0\" izz=\"0.01\"/> </inertial> </xacro:macro> <xacro:macro name=\"Livox_Mid_gazebo_sensor\" params=\"visualize:=True update_rate:=10 resolution:=0.002 noise_mean:=0.0 noise_stddev:=0.01 name:=livox\"> <gazebo reference=\"${name}\"> <sensor type=\"ray\" name=\"laser_${name}\"> <pose>0 0 0 0 0 0</pose> <visualize>${visualize}</visualize> <update_rate>${update_rate}</update_rate> <plugin name=\"gazebo_ros_laser_controller\" filename=\"liblivox_laser_simulation.so\"> <ray> <scan> <horizontal> <samples>100</samples> <resolution>1</resolution> <min_angle>0</min_angle> <max_angle>${2*M_PI}</max_angle> </horizontal> <vertical> <samples>360</samples> <resolution>1</resolution> <min_angle>${-3.22/180*M_PI}</min_angle> <max_angle>${56.22/180*M_PI}</max_angle> </vertical> </scan> <range> <min>0.1</min> <max>30</max> <resolution>0.02</resolution> </range> <noise> <type>gaussian</type> <mean>0.0</mean> <stddev>0.0</stddev> </noise> </ray> <visualize>${visualize}</visualize> <samples>${samples}</samples> <downsample>${downsample}</downsample> <csv_file_name>package://livox_laser_simulation/scan_mode/mid360.csv</csv_file_name> <ros_topic>${ros_topic}</ros_topic> </plugin> </sensor> </gazebo> </xacro:macro> <xacro:macro name=\"Livox_Mid40\" params=\"visualize:=True name:=livox\"> <link name=\"${name}_base\"> <xacro:null_inertial/> <visual> <origin xyz=\"0.00 0 0.0\" rpy=\"0 0 0\"/> <geometry> <mesh filename=\"package://livox_laser_simulation/meshes/mid360.dae\"> </mesh> </geometry> </visual> <collision> <origin xyz=\"0 0 0\" rpy=\"0 0 0\" /> <geometry> <mesh filename=\"package://livox_laser_simulation/meshes/mid360_rules.dae\"> </mesh> </geometry> </collision> </link> <link name=\"${name}\"> <xacro:null_inertial/> </link> <joint name=\"${name}_to_${name}_base_joint\" type=\"fixed\"> <parent link=\"${name}_base\"/> <child link=\"${name}\"/> <origin rpy=\"0 0 0\" xyz=\"-0.012 0.0 0.047\"/> </joint> <xacro:Livox_Mid_gazebo_sensor name=\"${name}\" visualize=\"${visualize}\"/> </xacro:macro> <xacro:Livox_Mid40 name=\"livox\"/> </robot>编写launch文件
cd ~/catkin_ws/src/livox_laser_simulation/launchcode mid360_IMU_platform.launch<launch> <arg name=\"paused\" default=\"false\"/> <arg name=\"use_sim_time\" default=\"true\"/> <arg name=\"gui\" default=\"true\"/> <arg name=\"headless\" default=\"false\"/> <arg name=\"debug\" default=\"false\"/> <arg name=\"verbose\" default=\"false\"/> <include file=\"$(find gazebo_ros)/launch/empty_world.launch\" > <arg name=\"paused\" value=\"$(arg paused)\"/> <arg name=\"use_sim_time\" value=\"$(arg use_sim_time)\"/> <arg name=\"gui\" value=\"$(arg gui)\"/> <arg name=\"headless\" value=\"$(arg headless)\"/> <arg name=\"debug\" value=\"$(arg debug)\"/> <arg name=\"verbose\" value=\"$(arg verbose)\"/> </include> <param name=\"robot_description\" command=\"$(find xacro)/xacro --inorder \'$(find livox_laser_simulation)/urdf/mid360_IMU_platform.xacro\' \" /> <node pkg=\"gazebo_ros\" type=\"spawn_model\" name=\"spawn_model\" args=\"-urdf -param /robot_description -model example\"/> <node pkg=\"robot_state_publisher\" type=\"robot_state_publisher\" name=\"robot_state_publisher\"> <param name=\"publish_frequency\" type=\"double\" value=\"30.0\" /> </node> <arg name=\"rviz\" default=\"true\"/> <node name=\"rviz\" pkg=\"rviz\" type=\"rviz\" args=\"-d $(find livox_laser_simulation)/rviz/livox_simulation.rviz\"/></launch>编译运行
cd ~/catkin_wscatkin_make注：有时修改完文件立刻编译会报错:
fatal error: livox_ros_driver/CustomMsg.h:No such file and directory主要原因应该是多线程编译导致的，将终端关闭，重新编译即可
参考：https://blog.csdn.net/qq_59475883/article/details/127758942
roslaunch livox_laser_simulation mid360_IMU_platform.launch
资源下载
链接: https://pan.baidu.com/s/17x61LmNLG7_-S4OY7IuE7Q?pwd=1234 提取码: 1234
