Introduction

• 添加了mesh/mid360.dae文件，同时添加了livox_mid360.xacro和mid360_IMU_platform.xacro。 可以与小车，无人机等模型结合。

• 修复https://github.com/lvfengchi/livox_laser_simulation代码中ubuntu20.04 + gazebo11无法适配问题

• 点云类型（publish_pointcloud_type）： 修改livox_points_plugin.cpp第101行

  index	对应的点云类型
  0	sensor_msg::pointcloud
  1	sensor_msg::pointcloud2(pcl::Pointcloudpcl::PointXYZ)
  2	sensor_msg::pointcloud2(pcl::Pointcloudpcl::LivoxPointXyzrtl)
  3	livox_ros_driver::CustomMsg

Usage

可以模仿 velodyne.xacro 文件和 robot.xacro 文件

在xacro文件中插入：

<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_platform -->
      <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="1.5"/>
          <inertia ixx="0.1" ixy="0.0" ixz="0.0"
                  iyy="0.1" iyz="0.0" 
                  izz="0.1" />
        </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 0.06" rpy="0 0 0" />
      </joint>

      <!--lidar -->
      <xacro:include filename="$(find livox_laser_simulation)/urdf/livox_mid360.xacro"/>
      <xacro:Livox_Mid360 name="livox"/>

        <!--imu -->
        <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="1.5"/>
                <inertia ixx="0.1" ixy="0.0" ixz="0.0" iyy="0.1" iyz="0.0" izz="0.1"/>
            </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/>

Reference content

https://blog.csdn.net/m0_71983702/article/details/140357157?spm=1001.2014.3001.5501

https://blog.csdn.net/m0_71983702/article/details/143808639?spm=1001.2014.3001.5502