Ray plugin (PointCloud2) using gpu

Hello everyone!

I am using Gazebo 8 for simulation different environments using custom models. I want to know is there any existing plugin that uses gpu for generating pointcloud2 in the simulation. As currently I am using gazebo's own plugin to get pointcloud2, it is really killing my CPU when I subscribe to it using cartographer or nav_stack, RTF drops to 0.2 with single sensor and I intend to use 2. So if is there anything out there I would really appreciate the help. Thanks

Asked by Choco on 2017-10-03 08:51:13 UTC

Comments

there is a gpu_ray sensor, and a plugin for it. Maybe that's what you're looking for?

https://bitbucket.org/osrf/gazebo/src/3ac47b35d6462dea6569b022fe20e6f219ef3794/plugins/GpuRayPlugin.cc

Asked by iche033 on 2017-10-03 13:40:12 UTC

Thanks for the reply, but the link seems to be broken. And I think the plugin you are talking about gives laserscan, I want a plugin that uses gpu and outputs pointcloud2.

Asked by Choco on 2017-10-06 01:53:34 UTC

ok I see. In that case, a depth camera? http://www.gazebosim.org/tutorials?tut=ros_depth_camera&cat=connect_ros

Asked by iche033 on 2017-10-06 12:47:08 UTC

I already looked into this one, it doesn't give me configuration control as there is in velodyne_simulator or ray plugins. I looked into it again and seems like there is nothing out there. Anyways, thanks for the input.

Asked by Choco on 2017-10-06 13:28:40 UTC

Yo can use the following repo for a GPU plugin. But there is an issue with the vertical rays.

Asked by Weasfas on 2019-11-15 07:36:13 UTC