This is a ROS package to simulate multi-sensor platforms through Gazebo. Two platforms are included. One platform includes an IMU and a camera, whose model is built in integrated_platform_imu_1cam.xacro. The other platform includes an IMU, four cameras and two LiDARs, whose model is described in integrated_platform_2side.xacro.
Please install ROS and Gazebo before using this package.
mkdir -p catkin_ws/src
cd catkin_ws/src
git clone https://github.com/STAR-Center/Multi-sensor_Simulation.git
cd Multi-sensor_Simulation
git submodule add https://bitbucket.org/DataspeedInc/velodyne_simulator.git velodyne_simulator
cd ../..
catkin_make
source devel/setup.sh
cd src/Multi-sensor_Simulation
source sim_move_and_record.sh
For multi-sensor calibration, please refer to Mutical, proposed by the paper "Multical: Spatiotemporal Calibration for Multiple IMUs, Cameras and LiDARs". We also provide real dataset to test our calibration method.