Added velodyne package

.gitignore

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+g_mapper
+sensors/velodyne_depricated

px4_files/setup_env.bash

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+source ~/catkin_ws/devel/setup.bash
+declare FIRMWARE_PATH="/home/neelaksh/catkin_ws/Firmware"
+declare VELODYNE_PATH="/home/neelaksh/catkin_ws/src/aq_project/sensors/velodyne_simulator/velodyne_description/models"
+export GAZEBO_MODEL_PATH=$GAZEBO_MODEL_PATH:${VELODYNE_PATH}
+source ${FIRMWARE_PATH}/Tools/setup_gazebo.bash ${FIRMWARE_PATH} ${FIRMWARE_PATH}/build/px4_sitl_default
+export ROS_PACKAGE_PATH=$ROS_PACKAGE_PATH:${FIRMWARE_PATH}
+export ROS_PACKAGE_PATH=$ROS_PACKAGE_PATH:${FIRMWARE_PATH}/Tools/sitl_gazebo

sensors/velodyne_simulator/LICENSE

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+Software License Agreement (BSD License)
+
+Copyright (c) 2015-2018, Dataspeed Inc.
+All rights reserved.
+
+Redistribution and use in source and binary forms, with or without modification,
+are permitted provided that the following conditions are met:
+
+    * Redistributions of source code must retain the above copyright notice,
+      this list of conditions and the following disclaimer.
+    * Redistributions in binary form must reproduce the above copyright notice,
+      this list of conditions and the following disclaimer in the documentation
+      and/or other materials provided with the distribution.
+    * Neither the name of Dataspeed Inc. nor the names of its
+      contributors may be used to endorse or promote products derived from this
+      software without specific prior written permission.
+
+THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
+ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
+FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
+DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
+SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
+OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.

sensors/velodyne_simulator/README.md

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+# Velodyne Simulator
+URDF description and Gazebo plugins to simulate Velodyne laser scanners
+
+![rviz screenshot](img/rviz.png)
+
+# Features
+* URDF with colored meshes
+* Gazebo plugin based on [gazebo_plugins/gazebo_ros_block_laser](https://github.com/ros-simulation/gazebo_ros_pkgs/blob/kinetic-devel/gazebo_plugins/src/gazebo_ros_block_laser.cpp)
+* Publishes PointCloud2 with same structure (x, y, z, intensity, ring)
+* Simulated Gaussian noise
+* GPU acceleration ([with a modern Gazebo build](gazebo_upgrade.md))
+* Supported models:
+    * [VLP-16](velodyne_description/urdf/VLP-16.urdf.xacro)
+    * [HDL-32E](velodyne_description/urdf/HDL-32E.urdf.xacro)
+    * Pull requests for other models are welcome
+* Experimental support for clipping low-intensity returns
+
+# Parameters
+* ```*origin``` URDF transform from parent link.
+* ```parent``` URDF parent link name. Default ```base_link```
+* ```name``` URDF model name. Also used as tf frame_id for PointCloud2 output. Default ```velodyne```
+* ```topic``` PointCloud2 output topic name. Default ```/velodyne_points```
+* ```hz``` Update rate in hz. Default ```10```
+* ```lasers``` Number of vertical spinning lasers. Default ```VLP-16: 16, HDL-32E: 32```
+* ```samples``` Nuber of horizontal rotating samples. Default ```VLP-16: 1875, HDL-32E: 2187```
+* ```min_range``` Minimum range value in meters. Default ```0.9```
+* ```max_range``` Maximum range value in meters. Default ```130.0```
+* ```noise``` Gausian noise value in meters. Default ```0.008```
+* ```min_angle``` Minimum horizontal angle in radians. Default ```-3.14```
+* ```max_angle``` Maximum horizontal angle in radians. Default ```3.14```
+* ```gpu``` Use gpu_ray sensor instead of the standard ray sensor. Default ```false```
+* ```min_intensity``` The minimum intensity beneath which returns will be clipped.  Can be used to remove low-intensity objects.
+
+# Known Issues
+* At full sample resolution, Gazebo can take up to 30 seconds to load the VLP-16 pluggin, 60 seconds for the HDL-32E
+* With the default Gazebo version shipped with ROS, ranges are incorrect when accelerated with the GPU option ([issue](https://bitbucket.org/osrf/gazebo/issues/946/),[image](img/gpu.png))
+    * Solution: Upgrade to a [modern Gazebo version](gazebo_upgrade.md)
+* Gazebo cannot maintain 10Hz with large pointclouds
+    * Solution: User can reduce number of points (samples) or frequency (hz) in the urdf parameters, see [example.urdf.xacro](velodyne_description/urdf/example.urdf.xacro)
+* Gazebo crashes when updating HDL-32E sensors with default number of points. "Took over 1.0 seconds to update a sensor."
+    * Solution: User can reduce number of points in urdf (same as above)
+* Gazebo versions in indigo and jade have different z orientations
+    * Solution: Maintain separate branches for urdf changes (gazebo2 and master)
+
+# Example Gazebo Robot
+```roslaunch velodyne_description example.launch```
+
+# Example Gazebo Robot (with GPU)
+```roslaunch velodyne_description example.launch gpu:=true```
+

sensors/velodyne_simulator/bitbucket-pipelines.yml

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+# Docker image from Docker Hub
+image: osrf/ros:kinetic-desktop-full
+
+pipelines:
+  default:
+    - parallel:
+      - step:
+          name: kinetic
+          image: osrf/ros:kinetic-desktop-full
+          script:
+            - mkdir -p /tmp/src/repo && mv `pwd`/* /tmp/src/repo && mv /tmp/src `pwd`  # Move everything into the src directory
+            - source `find /opt/ros -name setup.bash | sort | head -1` && echo $ROS_DISTRO # Source ROS environment
+            - apt update && rosdep install --from-paths src --ignore-src -y # Install dependencies missing from the docker image
+            - catkin_make_isolated --install -DCMAKE_BUILD_TYPE=Release
+            - catkin_make_isolated --install -DCMAKE_BUILD_TYPE=Release --make-args tests
+            - catkin_make_isolated --install -DCMAKE_BUILD_TYPE=Release --make-args run_tests -j1
+            - catkin_test_results build_isolated
+      - step:
+          name: lunar
+          image: osrf/ros:lunar-desktop-full
+          script:
+            - mkdir -p /tmp/src/repo && mv `pwd`/* /tmp/src/repo && mv /tmp/src `pwd`  # Move everything into the src directory
+            - source `find /opt/ros -name setup.bash | sort | head -1` && echo $ROS_DISTRO # Source ROS environment
+            - apt update && rosdep install --from-paths src --ignore-src -y # Install dependencies missing from the docker image
+            - catkin_make_isolated --install -DCMAKE_BUILD_TYPE=Release
+            - catkin_make_isolated --install -DCMAKE_BUILD_TYPE=Release --make-args tests
+            - catkin_make_isolated --install -DCMAKE_BUILD_TYPE=Release --make-args run_tests -j1
+            - catkin_test_results build_isolated
+      - step:
+          name: melodic
+          image: osrf/ros:melodic-desktop-full
+          script:
+            - mkdir -p /tmp/src/repo && mv `pwd`/* /tmp/src/repo && mv /tmp/src `pwd`  # Move everything into the src directory
+            - source `find /opt/ros -name setup.bash | sort | head -1` && echo $ROS_DISTRO # Source ROS environment
+            - apt update && rosdep install --from-paths src --ignore-src -y # Install dependencies missing from the docker image
+            - catkin_make_isolated --install -DCMAKE_BUILD_TYPE=Release
+            - catkin_make_isolated --install -DCMAKE_BUILD_TYPE=Release --make-args tests
+            - catkin_make_isolated --install -DCMAKE_BUILD_TYPE=Release --make-args run_tests -j1
+            - catkin_test_results build_isolated
+  branches:
+    gazebo2:
+      - step:
+          name: indigo
+          image: osrf/ros:indigo-desktop-full
+          script:
+            - mkdir -p /tmp/src/repo && mv `pwd`/* /tmp/src/repo && mv /tmp/src `pwd`  # Move everything into the src directory
+            - source `find /opt/ros -name setup.bash | sort | head -1` && echo $ROS_DISTRO # Source ROS environment
+            - apt update && rosdep install --from-paths src --ignore-src -y # Install dependencies missing from the docker image
+            - catkin_make_isolated --install -DCMAKE_BUILD_TYPE=Release
+            - catkin_make_isolated --install -DCMAKE_BUILD_TYPE=Release --make-args tests
+            - catkin_make_isolated --install -DCMAKE_BUILD_TYPE=Release --make-args run_tests -j1
+            - catkin_test_results build_isolated

sensors/velodyne_simulator/gazebo_upgrade.md

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+# GPU issues
+The GPU problems reported in this [issue](https://bitbucket.org/osrf/gazebo/issues/946/) have been solved with this [pull request](https://bitbucket.org/osrf/gazebo/pull-requests/2955/) for the ```gazebo7``` branch. The Gazebo versions from the ROS apt repository (7.0.0 for Kinetic, 9.0.0 for Melodic) do not have this fix. One solution is to pull up-to-date packages from the OSRF Gazebo apt repository. Another solution is to compile from source: http://gazebosim.org/tutorials?tut=install_from_source
+
+* The GPU fix was added to ```gazebo7``` in version 7.14.0
+* The GPU fix was added to ```gazebo9``` in version 9.4.0
+
+# Use up-to-date packages from the OSRF Gazebo apt repository
+```
+sudo sh -c 'echo "deb http://packages.osrfoundation.org/gazebo/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/gazebo-stable.list'
+sudo apt-key adv --keyserver keyserver.ubuntu.com --recv-keys D2486D2DD83DB69272AFE98867170598AF249743
+sudo apt update
+sudo apt upgrade
+```
+

sensors/velodyne_simulator/velodyne_description/CHANGELOG.rst

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+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+Changelog for package velodyne_description
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+
+1.0.10 (2020-08-03)
+-------------------
+* Change PointCloud visualization type from flat squares to points in example rviz config
+* Bump minimum CMake version to 3.0.2 in all CMakeLists.txt
+* Fix xacro macro instantiation
+* Contributors: Kevin Hallenbeck, Micho Radovnikovich
+
+1.0.9 (2019-03-08)
+------------------
+
+1.0.8 (2018-09-08)
+------------------
+
+1.0.7 (2018-07-03)
+------------------
+* Added GPU support
+* Updated inertia tensors for VLP-16 and HDL-32E to realistic values
+* Removed unnecessary file extraction code in cmake
+* Contributors: Kevin Hallenbeck, Max Schwarz
+
+1.0.6 (2017-10-17)
+------------------
+* Use robotNamespace as prefix for PointCloud2 topic frame_id by default
+* Contributors: Micho Radovnikovich
+
+1.0.5 (2017-09-05)
+------------------
+* Increased minimum collision range to prevent self-clipping when in motion
+* Added many URDF parameters, and set example sample count to reasonable values
+* Launch rviz with gazebo
+* Contributors: Kevin Hallenbeck
+
+1.0.4 (2017-04-24)
+------------------
+* Updated package.xml format to version 2
+* Contributors: Kevin Hallenbeck
+
+1.0.3 (2016-08-13)
+------------------
+* Contributors: Kevin Hallenbeck
+
+1.0.2 (2016-02-03)
+------------------
+* Moved M_PI property out of macro to support multiple instances
+* Materials caused problems with more than one sensors. Removed.
+* Added example urdf and gazebo
+* Changed to DAE meshes
+* Added meshes. Added HDL-32E.
+* Start from block laser
+* Contributors: Kevin Hallenbeck

sensors/velodyne_simulator/velodyne_description/CMakeLists.txt

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+cmake_minimum_required(VERSION 3.0.2)
+project(velodyne_description)
+
+find_package(catkin REQUIRED)
+
+find_package(gazebo REQUIRED)
+include_directories(${GAZEBO_INCLUDE_DIRS})
+link_directories(${GAZEBO_LIBRARY_DIRS})
+set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} ${GAZEBO_CXX_FLAGS}")
+
+catkin_package()
+
+install(DIRECTORY launch meshes rviz urdf world
+        DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
+)

sensors/velodyne_simulator/velodyne_description/launch/example.launch

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+<?xml version="1.0" ?>
+<launch>
+  <arg name="paused" default="false"/>
+  <arg name="use_sim_time" default="true"/>
+  <arg name="gui" default="true"/>
+  <arg name="headless" default="false"/>
+  <arg name="debug" default="false"/>
+  <arg name="verbose" default="false"/>
+  <arg name="world_name" default="$(find velodyne_description)/world/example.world"/>
+
+  <!-- Start gazebo and load the world -->
+  <include file="$(find gazebo_ros)/launch/empty_world.launch" >
+    <arg name="paused" value="$(arg paused)"/>
+    <arg name="use_sim_time" value="$(arg use_sim_time)"/>
+    <arg name="gui" value="$(arg gui)"/>
+    <arg name="headless" value="$(arg headless)"/>
+    <arg name="debug" value="$(arg debug)"/>
+    <arg name="verbose" value="$(arg verbose)"/>
+    <arg name="world_name" value="$(arg world_name)"/>
+  </include>
+
+  <!-- Spawn the example robot -->
+  <arg name="gpu" default="false"/>
+  <param name="robot_description" command="$(find xacro)/xacro --inorder '$(find velodyne_description)/urdf/example.urdf.xacro' gpu:=$(arg gpu)" />
+  <node pkg="gazebo_ros" type="spawn_model" name="spawn_model" args="-urdf -param /robot_description -model example"/>
+  <node pkg="robot_state_publisher" type="robot_state_publisher" name="robot_state_publisher">
+    <param name="publish_frequency" type="double" value="30.0" />
+  </node>
+
+  <!-- RViz -->
+  <arg name="rviz" default="true"/>
+  <node if="$(arg rviz)" pkg="rviz" type="rviz" name="$(anon rviz)" respawn="false" output="screen" args="-d $(find velodyne_description)/rviz/example.rviz" />
+
+</launch>

sensors/velodyne_simulator/velodyne_description/launch/example_vlp.launch

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+<?xml version="1.0" ?>
+<launch>
+  <arg name="paused" default="false"/>
+  <arg name="use_sim_time" default="true"/>
+  <arg name="gui" default="true"/>
+  <arg name="headless" default="false"/>
+  <arg name="debug" default="false"/>
+  <arg name="verbose" default="false"/>
+  <arg name="world_name" default="$(find mavlink_sitl_gazebo)/worlds/empty.world"/>
+  <arg name="sensor" default="velodyne_VLP16"/>
+  <arg name="sdf" default="$(find velodyne_description)/models/$(arg sensor)/$(arg sensor).sdf"/>
+
+  <!-- sensor pose -->
+  <arg name="x" default="1"/>
+  <arg name="y" default="1"/>
+  <arg name="z" default="0"/>
+  <arg name="R" default="0"/>
+  <arg name="P" default="0"/>
+  <arg name="Y" default="0"/>
+
+  <!-- Start gazebo and load the world -->
+  <include file="$(find gazebo_ros)/launch/empty_world.launch" >
+    <arg name="paused" value="$(arg paused)"/>
+    <arg name="use_sim_time" value="$(arg use_sim_time)"/>
+    <arg name="gui" value="$(arg gui)"/>
+    <arg name="headless" value="$(arg headless)"/>
+    <arg name="debug" value="$(arg debug)"/>
+    <arg name="verbose" value="$(arg verbose)"/>
+    <arg name="world_name" value="$(arg world_name)"/>
+  </include>
+
+  <!-- Spawn the example robot -->
+  <arg name="gpu" default="false"/>
+  <node pkg="gazebo_ros" type="spawn_model" name="spawn_model" output="screen" args="-sdf -file $(arg sdf) -model $(arg sensor) -x $(arg x) -y $(arg y) -z $(arg z) -R $(arg R) -P $(arg P) -Y $(arg Y)"/>
+  <!-- <node pkg="robot_state_publisher" type="robot_state_publisher" name="robot_state_publisher">
+    <param name="publish_frequency" type="double" value="30.0" />
+  </node> -->
+
+  <!-- RViz -->
+  <!-- <arg name="rviz" default="true"/>
+  <node if="$(arg rviz)" pkg="rviz" type="rviz" name="$(anon rviz)" respawn="false" output="screen" args="-d $(find velodyne_description)/rviz/example.rviz" /> -->
+
+</launch>