Thermal range extrinsic calibration simulation environment

gazebo simulation

you can get the simulation environment shown in the figure by running:

ign gazebo school_and_wall_gazebo_world.sdf

Click the three quotation marks in the upper right corner again, and search for lidar-> visualize lidar. Then click pause in the lower left corner to start (the triangle inside the circle), and you can see the lidar ray.(再点一下右上角三个引号, 搜索lidar-> visualize lidar 然后再把左下角的暂停点成启动(圆圈里面的三角形)就可一看到 lidar ray了)

Then you can follow this tutorial to convert ignition gazebo sensor info to ros_msg.

Here is my own tutorial

moving car

ign gazebo wheel_robot.sdf then you can move the car by 方向键, then you can drive the car as shown in the video below:

2024-08-20.16-02-03.mp4

ply/pcd convert

pcl_ply2pcd http://manpages.ubuntu.com/manpages/focal/man1/pcl_ply2pcd.1.html

pcl_pcd2ply http://manpages.ubuntu.com/manpages/focal/man1/pcl_pcd2ply.1.html