/robot_laser_simulator

Robot 2D laser simulator for generating datasets. Works with ROS1.

Primary LanguagePythonMIT LicenseMIT

Robot Laser Simulator (ROS)

Simple robot simulator ROS package using Bresenham ray-casting algorithm. Example visualization in RViz can be watched from Youtube (https://www.youtube.com/watch?v=8J_atau72BQ) and can be seen from the GIF below:

rviz

The given map for the simulator (The robot in the GIF above starting on left bottom side of the map):

map

Features

  • ROS (outputs /scan and inputs /cmd_vel)
  • Publishes simulator clock on ROS (so other nodes can adapt to the simulator speed rate)
  • Publishes map->base_link transform. (No noise implemented yet)
  • Laser noise (gaussian mu and variance)
  • Easy to read. Maybe? :)

Running

$ roslaunch robot_laser_simulator start.launch  # => there are modifiable parameters in this file with descriptions
$ rosrun rqt_robot_steering rqt_robot_steering  # => you can use this command for manually controlling the robot

Reference: