livox_gz_sim: Livox Mid-360 and HAP simulation for Gazebo Harmonic

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Hi all,

I’ve released livox_gz_sim, a Gazebo Harmonic plugin that simulates Livox Mid-360 and HAP lidars and publishes exactly what livox_ros_driver2 publishes. As far as I know it’s the first gpu agnostic Livox simulator for Gazebo Harmonic; the existing ones target Gazebo Classic or require CUDA.

What it does

  • Uses Livox’s recorded non-repetitive scan patterns, so coverage builds up over frames like on the real sensor
  • 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 unchanged.

lidar

Repo: GitHub - mathaimp/livox_gz_sim: ROS2 Livox Lidar Simulation · GitHub

Requires livox_ros_driver2 for the message types only, plus an OpenGL-capable GPU.

Feedback, issues, and requests for other Livox models are welcome.