Simulating Ouster LiDAR in Gazebo

Ouster Example

This repository is an adaptation of the ouster_example repository. For IMU simulation, requires cloning the hector_gazebo_plugins package (see below).

• NOTE: For code simplicity, several unnecessary directories from the original fork were removed. Refer to old commits for those details.

Prerequisites

Make sure you have the following software installed:

• ROS Noetic
• Gazebo 11.14.0

Installation

1. Create a catkin workspace:

   mkdir -p catkin_ws/src
   cd catkin_ws/src

2. Clone the required repositories:

   git clone https://github.com/fdcl-gwu/ouster_simulation.git
   git clone https://github.com/tu-darmstadt-ros-pkg/hector_gazebo.git hector_gazebo_plugins

3. Build the workspace:

   cd ..
   catkin build

Usage

1. Source the workspace:

   source devel/setup.bash

2. Launch the Ouster simulation:

   roslaunch ouster_description os1_world.launch -v

Modification for OS0-32 rev0 specifications: