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Upgrade to RGL v0.17 (#35)
* Upgrade to RGL v0.17 (#34) * Make it compatible with RGL v17 * Add support for intensity (LaserRerto) * Optimization: prioritize node from which data will be requested first * No need to transfrom points to Lidar frame when publishing LaserScan * Add support for min range * Add acknowledgements * Update RGL download process in CMakeLists * Review changes * Fix README (code snippet for pattern should contain only pattern) * Update README * Use gz{log-level} instead of ign{log-level}
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‎README.md‎

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@@ -19,13 +19,13 @@ Key features:
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## Requirements:
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- OS: [Ubuntu 20.04](https://releases.ubuntu.com/focal/) or [Ubuntu 22.04](https://releases.ubuntu.com/jammy/)
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- OS: [Ubuntu 22.04](https://releases.ubuntu.com/jammy/) or [Ubuntu 24.04](https://releases.ubuntu.com/noble/)
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- Gazebo: [Fortress 8.3](https://gazebosim.org/docs/harmonic/installl)
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- Gazebo: [Harmonic](https://gazebosim.org/docs/harmonic/install)
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- GPU: CUDA-enabled
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- Nvidia Driver: [See RGL requirements](https://github.com/RobotecAI/RobotecGPULidar/tree/v0.11.3#runtime-requirements)
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- Nvidia Driver: [See RGL requirements](https://github.com/RobotecAI/RobotecGPULidar/tree/v0.17.0#runtime-requirements)
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## Installation:
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@@ -53,7 +53,7 @@ Key features:
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```shell
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mkdir build
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cd build
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cmake ..
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cmake .. # Add `-DRGL_FORCE_DOWNLOAD=ON` to make sure the downloaded RGL will be up-to-date
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make -j
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make install
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cd ..
@@ -97,7 +97,10 @@ Inside the link entity in your model, add a custom sensor:
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```xml
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<sensor name="UniqueSensorName" type="custom">
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<plugin filename="RGLServerPluginInstance" name="rgl::RGLServerPluginInstance">
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<range>100</range>
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<range>
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<min>0</min>
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<max>100</max>
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</range>
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<update_rate>10</update_rate>
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<update_on_paused_sim>false</update_on_paused_sim>
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<topic>rgl_lidar</topic>
@@ -109,7 +112,7 @@ Inside the link entity in your model, add a custom sensor:
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*Note: All entities attached to the same \<link\> as lidar will be ignored from raycasting. This enables an adding visual representation of the sensor.*
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### Parameters description:
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- **range** - the maximum range that the hits will be registered (in meters).
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- **range** - the minimum and maximum range that the hits will be registered (in meters).
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- **update_rate** - the frequency at which the lidar will perform raycasting (in Hz).
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@@ -190,22 +193,13 @@ Inside the link entity in your model, add a custom sensor:
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the `horizontal` element and publishes a
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`LaserScan` message instead of a point cloud
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```xml
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<sensor name="Pattern2DLidar" type="custom">
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<plugin filename="RGLServerPluginInstance" name="rgl::RGLServerPluginInstance">
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<range>100</range>
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<update_rate>10</update_rate>
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<update_on_paused_sim>false</update_on_paused_sim>
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<topic>rgl_lidar</topic>
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<frame>RGLLidar</frame>
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<pattern_lidar2d>
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<horizontal>
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<samples>1800</samples>
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<min_angle>-3.14159</min_angle>
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<max_angle>3.14159</max_angle>
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</horizontal>
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</pattern_lidar2d>
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</plugin>
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</sensor>
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<pattern_lidar2d>
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<horizontal>
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<samples>1800</samples>
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<min_angle>-3.14159</min_angle>
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<max_angle>3.14159</max_angle>
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</horizontal>
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</pattern_lidar2d>
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```
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## How to visualize in Gazebo
@@ -225,4 +219,9 @@ At [Robotec.AI](https://robotec.ai/) we care about every little detail of our pr
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## Ray pattern comparison
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| **RGL uniform pattern** | **gpu_lidar uniform pattern** |
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|---|---|
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| ![](docs/images/RGL_uniform.png) | ![](docs/images/GPU_lidar_uniform.png) |
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| ![](docs/images/RGL_uniform.png) | ![](docs/images/GPU_lidar_uniform.png) |
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## Acknowledgements
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The project benefited from significant contributions and support of [Dexory](https://www.dexory.com/).
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Features such as LaserScan publishing and Laser Retro as well as update to the newest RGL version were possible thanks to their dedication to the open source community.

‎RGLServerPlugin/CMakeLists.txt‎

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Original file line numberDiff line numberDiff line change
@@ -12,22 +12,38 @@ set(GZ_SIM_VER ${gz-sim8_VERSION_MAJOR})
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include_directories(include)
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set(RGL_VERSION "0.11.3")
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# Use this variable to make sure the downloaded RGL will be up-to-date
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set(RGL_FORCE_DOWNLOAD OFF BOOL)
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set(RGL_TAG "v0.17.0")
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set(RGL_PATH "${CMAKE_CURRENT_SOURCE_DIR}/include/rgl")
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set(RGL_SO_PATH "${RGL_PATH}/libRobotecGPULidar.so")
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set(RGL_API_PATH "${RGL_PATH}/api/core.h")
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set(RGL_COMMIT "e5ea8a1a74c253a304f4d1d4652391bca9d448e6")
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set(RGL_SO_URL "https://github.com/RobotecAI/RobotecGPULidar/releases/download/v${RGL_VERSION}/libRobotecGPULidar.so")
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set(RGL_API_URL "https://raw.githubusercontent.com/RobotecAI/RobotecGPULidar/${RGL_COMMIT}/include/rgl/api/core.h")
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# You have to delete old files manually in order to download
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# new ones automatically if a new version is available.
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set(RGL_SO_FILENAME "libRobotecGPULidar.so")
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set(RGL_SO_PATH "${RGL_PATH}/${RGL_SO_FILENAME}")
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set(RGL_API_HEADER_PATH "${RGL_PATH}/api/core.h")
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set(RGL_SO_ZIP_FILENAME "RGL-core-linux-x64.zip")
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set(RGL_SO_ZIP_URL "https://github.com/RobotecAI/RobotecGPULidar/releases/download/${RGL_TAG}/${RGL_SO_ZIP_FILENAME}")
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set(RGL_API_HEADER_URL "https://raw.githubusercontent.com/RobotecAI/RobotecGPULidar/${RGL_TAG}/include/rgl/api/core.h")
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if (RGL_FORCE_DOWNLOAD)
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file(REMOVE_RECURSE ${RGL_PATH})
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endif()
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# Download RGL library
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if(NOT EXISTS ${RGL_SO_PATH})
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file(DOWNLOAD ${RGL_SO_URL} ${RGL_SO_PATH})
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file(DOWNLOAD ${RGL_SO_ZIP_URL} ${RGL_PATH}/${RGL_SO_ZIP_FILENAME})
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file(ARCHIVE_EXTRACT INPUT ${RGL_PATH}/${RGL_SO_ZIP_FILENAME}
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DESTINATION ${RGL_PATH}
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PATTERNS ${RGL_SO_FILENAME}
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VERBOSE
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)
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file(REMOVE ${RGL_PATH}/${RGL_SO_ZIP_FILENAME})
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endif()
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# Download RGL API header
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if(NOT EXISTS ${RGL_API_PATH})
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file(DOWNLOAD ${RGL_API_URL} ${RGL_API_PATH})
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file(DOWNLOAD ${RGL_API_HEADER_URL} ${RGL_API_HEADER_PATH})
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endif()
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set(RobotecGPULidar ${RGL_SO_PATH})

‎RGLServerPlugin/include/RGLServerPluginInstance.hh‎

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Original file line numberDiff line numberDiff line change
@@ -71,20 +71,43 @@ private:
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bool paused);
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void RayTrace(std::chrono::steady_clock::duration sim_time);
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gz::msgs::PointCloudPacked CreatePointCloudMsg(std::chrono::steady_clock::duration sim_time, std::string frame, int hitpointCount);
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gz::msgs::LaserScan CreateLaserScanMsg(std::chrono::steady_clock::duration sim_time, std::string frame, int hitpointCount);
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bool FetchLaserScanResult();
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bool FetchPointCloudResult(rgl_node_t formatNode);
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gz::msgs::PointCloudPacked CreatePointCloudMsg(std::chrono::steady_clock::duration sim_time, const std::string& frame);
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gz::msgs::LaserScan CreateLaserScanMsg(std::chrono::steady_clock::duration sim_time, const std::string& frame);
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void DestroyLidar();
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std::string topicName;
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std::string frameId;
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float lidarRange;
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rgl_vec2f lidarMinMaxRange;
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gz::math::Angle scanHMin;
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gz::math::Angle scanHMax;
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int scanHSamples;
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std::vector<rgl_mat3x4f> lidarPattern;
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std::vector<rgl_vec3f> resultPointCloud;
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std::vector<float> resultDistances;
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struct ResultPointCloud
91+
{
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std::vector<char> data{};
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int32_t hitPointCount{};
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static constexpr std::size_t pointSize{sizeof(rgl_vec3f) + sizeof(float)}; // Based on rglFields
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inline static const std::vector<rgl_field_t> rglFields = {
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RGL_FIELD_XYZ_VEC3_F32,
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RGL_FIELD_LASER_RETRO_F32
98+
};
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} resultPointCloud{};
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struct ResultLaserScan
102+
{
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std::vector<float> distances{};
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std::vector<float> intensities{};
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// No hitPointCount needed because LaserScan message contains non-hits also
106+
inline static const std::vector<rgl_field_t> rglFields = {
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RGL_FIELD_DISTANCE_F32,
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RGL_FIELD_LASER_RETRO_F32
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};
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} resultLaserScan{};
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bool updateOnPausedSim = false;
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bool publishLaserScan = false;
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rgl_node_t rglNodeUseRays = nullptr;
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rgl_node_t rglNodeLidarPose = nullptr;
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rgl_node_t rglNodeSetRange = nullptr;
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rgl_node_t rglNodeRaytrace = nullptr;
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rgl_node_t rglNodeCompact = nullptr;
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rgl_node_t rglNodeYield = nullptr;
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rgl_node_t rglNodeYieldLaserScan = nullptr;
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rgl_node_t rglNodeFormatPointCloudSensor = nullptr;
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rgl_node_t rglNodeFormatPointCloudWorld = nullptr;
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rgl_node_t rglNodeToLidarFrame = nullptr;
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std::chrono::steady_clock::duration raytraceIntervalTime;

‎RGLServerPlugin/include/RGLServerPluginManager.hh‎

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#include <gz/common/MeshManager.hh>
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#include <gz/sim/components/Geometry.hh>
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#include <gz/sim/components/LaserRetro.hh>
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#include <gz/sim/components/Visual.hh>
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#include <gz/sim/System.hh>
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const gz::sim::components::Visual*,
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const gz::sim::components::Geometry*);
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bool SetLaserRetroCb(
96+
const gz::sim::Entity& entity,
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const gz::sim::components::LaserRetro* laser_retro);
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void UpdateRGLEntityPoses(const gz::sim::EntityComponentManager& ecm);
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std::unordered_set<gz::sim::Entity> GetEntitiesInParentLink(

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