Gazebo仿真无人机3D激光雷达的搭建系统要求Ubuntu22、24及以上版本。以PX4开源工程为基础先参考官方文档 https://docs.px4.io/main/en/sim_gazebo_gz/ 搭建基本的Gazebo无人机仿真注意安装Gazebo而非老版本Gazebo classic。跑通make px4_sitl gz_x500_lidar_2d。以gz_x500_lidar_2d工程为模板实现无人机3D激光雷达。实现步骤路径ROMFS/px4fmu_common/init.d-posix/airframes下添加编译目标复制一个4001_gz_x500重命名为4022_gz_x500_mid360路径Tools/simulation/gz/models下复制x500_lidar_2d文件夹重命名为x500_mid360修改无人机和添加的LiDAR属性uri指3D模型文件上传资源可下载https://download.csdn.net/download/CSUzhangpeike/93073753?spm1001.2014.3001.5503?xml version1.0 encodingUTF-8?sdfversion1.9modelnamex500_mid360includemergetrueurix500/uri/includeincludemergetrue!-- urihttps://fuel.gazebosim.org/1.0/OpenRobotics/models/Lidar 2d v2/uri --urimodel://mid360/uripose0 0 .35 0 0 0/pose/includejointnameLidarJointtypefixedparentbase_link/parentchildlink/childposerelative_tobase_link0 0 0 0 0 0/pose/joint/model/sdf同上路径复制lidar_2d_v2文件夹到同一路径下重命名为mid360与步骤2中LiDAR的uri保持一致。修改其下的model.sdfmodel name\3D模型\scan即扫描参数?xml version1.0?sdfversion1.6modelnamemid360linknamelinkpose0 0 0 0 0 0/poseinertialpose0 0 0.0435 0 0 0/posemass0.37/massinertiaixx0.00034437749999999994/ixxixy0/ixyixz0/ixziyy0.00034437749999999994/iyyiyz0/iyzizz0.00022199999999999998/izz/inertia/inertialcollisionnamecollision_basepose0 0 0.0205 0 0 0/posegeometryboxsize0.06 0.06 0.041/size/box/geometry/collisioncollisionnamecollision_midpose0 0 0.055 0 0 0/posegeometrycylinderradius0.025/radiuslength0.028/length/cylinder/geometry/collisioncollisionnamecollision_toppose0 0 0.078 0 0 0/posegeometryboxsize0.056 0.056 0.018/size/box/geometry/collisionvisualnamevisualgeometrymesh!-- 3D模型 --urimodel://mid360/meshes/livox_mid360.dae/uri/mesh/geometry/visualsensornamemid360typegpu_lidargz_frame_idlink/gz_frame_idpose0 0 0.055 0 0 0/poserayscanhorizontalsamples1000/samplesresolution1/resolutionmin_angle-3.14159265356195/min_anglemax_angle3.14159265356195/max_angle/horizontalverticalsamples32/samplesresolution1/resolutionmin_angle-0.126012666/min_anglemax_angle0.963769999/max_angle/vertical/scanrangemin0.1/minmax70/maxresolution0.01/resolution/rangenoisetypegaussian/typemean0.0/meanstddev0.001/stddev/noise/rayalways_on1/always_onupdate_rate10/update_ratevisualizetrue/visualizetopicmid360_lidar/topic/sensor/link/model/sdf编译与测试# 一般编译makepx4_sitl gz_x500_mid360# 设置仿真环境模型makepx4_sitl gz_x500_mid360PX4_GZ_WORLDforest下一篇介绍如何将Gazebo产生的传感器数据转为ROS2消息并跑通激光雷达SLAM也叫激光里程计LiDAR Inertial Odometry。跑通激光里程计
Gazebo仿真PX4+3D激光雷达的搭建
Gazebo仿真无人机3D激光雷达的搭建系统要求Ubuntu22、24及以上版本。以PX4开源工程为基础先参考官方文档 https://docs.px4.io/main/en/sim_gazebo_gz/ 搭建基本的Gazebo无人机仿真注意安装Gazebo而非老版本Gazebo classic。跑通make px4_sitl gz_x500_lidar_2d。以gz_x500_lidar_2d工程为模板实现无人机3D激光雷达。实现步骤路径ROMFS/px4fmu_common/init.d-posix/airframes下添加编译目标复制一个4001_gz_x500重命名为4022_gz_x500_mid360路径Tools/simulation/gz/models下复制x500_lidar_2d文件夹重命名为x500_mid360修改无人机和添加的LiDAR属性uri指3D模型文件上传资源可下载https://download.csdn.net/download/CSUzhangpeike/93073753?spm1001.2014.3001.5503?xml version1.0 encodingUTF-8?sdfversion1.9modelnamex500_mid360includemergetrueurix500/uri/includeincludemergetrue!-- urihttps://fuel.gazebosim.org/1.0/OpenRobotics/models/Lidar 2d v2/uri --urimodel://mid360/uripose0 0 .35 0 0 0/pose/includejointnameLidarJointtypefixedparentbase_link/parentchildlink/childposerelative_tobase_link0 0 0 0 0 0/pose/joint/model/sdf同上路径复制lidar_2d_v2文件夹到同一路径下重命名为mid360与步骤2中LiDAR的uri保持一致。修改其下的model.sdfmodel name\3D模型\scan即扫描参数?xml version1.0?sdfversion1.6modelnamemid360linknamelinkpose0 0 0 0 0 0/poseinertialpose0 0 0.0435 0 0 0/posemass0.37/massinertiaixx0.00034437749999999994/ixxixy0/ixyixz0/ixziyy0.00034437749999999994/iyyiyz0/iyzizz0.00022199999999999998/izz/inertia/inertialcollisionnamecollision_basepose0 0 0.0205 0 0 0/posegeometryboxsize0.06 0.06 0.041/size/box/geometry/collisioncollisionnamecollision_midpose0 0 0.055 0 0 0/posegeometrycylinderradius0.025/radiuslength0.028/length/cylinder/geometry/collisioncollisionnamecollision_toppose0 0 0.078 0 0 0/posegeometryboxsize0.056 0.056 0.018/size/box/geometry/collisionvisualnamevisualgeometrymesh!-- 3D模型 --urimodel://mid360/meshes/livox_mid360.dae/uri/mesh/geometry/visualsensornamemid360typegpu_lidargz_frame_idlink/gz_frame_idpose0 0 0.055 0 0 0/poserayscanhorizontalsamples1000/samplesresolution1/resolutionmin_angle-3.14159265356195/min_anglemax_angle3.14159265356195/max_angle/horizontalverticalsamples32/samplesresolution1/resolutionmin_angle-0.126012666/min_anglemax_angle0.963769999/max_angle/vertical/scanrangemin0.1/minmax70/maxresolution0.01/resolution/rangenoisetypegaussian/typemean0.0/meanstddev0.001/stddev/noise/rayalways_on1/always_onupdate_rate10/update_ratevisualizetrue/visualizetopicmid360_lidar/topic/sensor/link/model/sdf编译与测试# 一般编译makepx4_sitl gz_x500_mid360# 设置仿真环境模型makepx4_sitl gz_x500_mid360PX4_GZ_WORLDforest下一篇介绍如何将Gazebo产生的传感器数据转为ROS2消息并跑通激光雷达SLAM也叫激光里程计LiDAR Inertial Odometry。跑通激光里程计
