The RotationFrequency was set to 10 (Hz) and the Compensated parameter was marked as No. To simulate a planar LiDAR we set this value to 1 and also set the CenterAngle parameter to 0. The LaserCount parameter is set to 1 which is the number of beams the LiDAR will have. These are the coordinates of the sensor relative to base_link. LiDAR2D Sensor top #Ĭlick on the LiDAR Sensor to view its details. ROS2 will use the time provided in this topic as reference time when the use_sim_time parameter is set to true. The only notable parameter here is the topic which must be set to /clock. Clock Sensor top #Ĭlick on the Clock Sensor to view its parameters. We will go through the noteworthy details of each sensor below. The Navigation2 sensor configuration is a basic sensor configuration for running the simulator with Nav2 that has the following sensors: Click on the model to expand it and under Sensor Configurations choose the Navigation2 configuration. If it is not already added to your library click the red button with a + sign on it to add it. You may skip this section if you wish to quickly run a simulation. The steps here are only provided to give insight into how the sensor configuration is setup and how changes can be made. See dynamics documentation to read more about this. The ego vehicle includes the implementation of the vehicle dynamics for the robot. The CLOi robot is available by default in the store and is located under Store > Vehicles in the web user interface. Note that you may need to link to cloud and build an account/login if you have not already done so. To access the web user interface, run the Simulator executable and click OPEN BROWSER. ![]() We will go through the steps of setting these up here. To run a simulation, we must have an ego vehicle (CLOi robot) and an environment available on the web user interface as well as a valid sensor configuration. Rosdep install -from-path src -iy -rosdistro foxy The navigation2 and nav2_bringup packages are also added as dependencies as they will be needed for running Nav2.įollow these steps to setup the package and install dependencies: source /opt/ros/foxy/setup.bash The SVL Simulator's ROS 2 bridge lgsvl_bridge is included as a dependency and added to the launch file to enable communication with the simulator. In addition, the launch file in the package can optionally use pointcloud_to_laserscan to convert the single beam LiDAR's PointCloud2 message to a LaserScan message type using by passing an command line argument. svl_robot_startup is a ROS2 package that publishes static transforms for the robot sensors and subscribes to the /odom topic published by the simulator to figure out and broadcast the transform between the odom and basefootprint frames. ![]() Therefore, an external ROS2 node is needed for this. The simulator does not directly broadcast tf transforms. tf2 is a transform library used to keep track of the relative transformation between these coordinate frames in ROS/ROS 2. Robots often have many 3D coordinate frames that change in position and orientation over time. ![]() ROS2 can be installed by following the steps in the official installation guide. Linux operating system (preferably Ubuntu 18.04 or later)įor a guide to setting up and using the simulator see the Getting Started guide.SVL Simulator release 2021.2.2 or later.Configuration file and command line parameters. ![]()
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