livox_gz_sim: Livox Mid-360 and HAP simulation for Gazebo Harmonic
Overview
mathai released livox_gz_sim, a Gazebo Harmonic plugin that simulates Livox Mid-360 and HAP lidars. It uses recorded non-repetitive scan patterns to build coverage over frames, publishes messages in the livox_ros_driver2 format with per-point timestamps, simulates the Mid-360's IMU at 200 Hz, and adds range/angle noise and reflectivity from datasheets. The tool is GPU agnostic (unlike existing CUDA-dependent options), supports multiple sensors and configurable rates, and allows world resets. Stacks like FAST-LIO run unchanged because the output matches the driver.
Generated from attributed reports · Updated 1 hours ago
Event evidence and corrections
0 attributed source owners. Ownership does not establish independent confirmation. Quantities are reported separately and are never added together.
Environment: simulation
“livox_gz_sim: Livox Mid-360 and HAP simulation for Gazebo Harmonic”
Exact source · revision 2Source owner not reported
Reported quantity · percent: 0 other · Basis not reported
“or Publishes livox_ros_driver2/CustomMsg or PointCloud2 in the driver’s 26-byte layout ( xfer_format 0/1), with per-point timestamps Simulates the Mid-360’s IMU at 200 Hz Adds range and angle noise from the datasheet, and reflectivity (0–255) from <laser_retro> Supports multiple sensors, configurable publish rate and downsampling, and world resets Because the output matches the driver, stacks like FAST-LIO run on it”
Exact source · revision 2Source owner not reported
Reported quantity · hours: 0 other · Basis not reported
“or Publishes livox_ros_driver2/CustomMsg or PointCloud2 in the driver’s 26-byte layout ( xfer_format 0/1), with per-point timestamps Simulates the Mid-360’s IMU at 200 Hz Adds range and angle noise from the datasheet, and reflectivity (0–255) from <laser_retro> Supports multiple sensors, configurable publish rate and downsampling, and world resets Because the output matches the driver, stacks like FAST-LIO run on it”
Exact source · revision 2Source owner not reported
Reported quantity · robots: 0 other · Basis not reported
“or Publishes livox_ros_driver2/CustomMsg or PointCloud2 in the driver’s 26-byte layout ( xfer_format 0/1), with per-point timestamps Simulates the Mid-360’s IMU at 200 Hz Adds range and angle noise from the datasheet, and reflectivity (0–255) from <laser_retro> Supports multiple sensors, configurable publish rate and downsampling, and world resets Because the output matches the driver, stacks like FAST-LIO run on it”
Exact source · revision 2Source owner not reported
Reported quantity · trajectories: 0 other · Basis not reported
“or Publishes livox_ros_driver2/CustomMsg or PointCloud2 in the driver’s 26-byte layout ( xfer_format 0/1), with per-point timestamps Simulates the Mid-360’s IMU at 200 Hz Adds range and angle noise from the datasheet, and reflectivity (0–255) from <laser_retro> Supports multiple sensors, configurable publish rate and downsampling, and world resets Because the output matches the driver, stacks like FAST-LIO run on it”
Exact source · revision 2Source owner not reported
Report timeline
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- ROS Discourse — Community updatesSignallivox_gz_sim: Livox Mid-360 and HAP simulation for Gazebo Harmonic
mathai released livox_gz_sim, a Gazebo Harmonic plugin that simulates Livox Mid-360 and HAP lidars. It uses recorded non-repetitive scan patterns to build coverage over frames, publishes messages in the livox_ros_driver2 format with per-point timestamps, simulates the Mid-360's IMU at 200 Hz, and adds range/angle noise and reflectivity from datasheets. The tool is GPU agnostic (unlike existing CUDA-dependent options), supports multiple sensors and configurable rates, and allows world resets. Stacks like FAST-LIO run unchanged because the output matches the driver.
Event coverage history
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