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Package Summary

Metapackage allowing easy installation of velo2cam_gazebo components.

Package Summary

Metapackage allowing easy installation of velo2cam_gazebo components.


This package includes Gazebo models, plugins and worlds of several sensors and calibration targets to help the process of designing and testing algorithms for extrinsic calibration of lidar-camera pairs. Package developed at Intelligent Systems Laboratory, Universidad Carlos III de Madrid.


Supported sensors

  • Bumblebee XB3 Camera
  • Velodyne VLP-16
  • Velodyne HDL-32
  • Velodyne HDL-64

Gazebo models

This repository includes several sensors and calibration target models to evaluate the performance of extrinsic calibration of lidar-camera pair in the Gazebo Simulator.

Note: The models included in this repository were designed for evaluating the LIDAR-camera calibration algorithm described in [1], whose code is provided here.


  • Bumblebee XB3 Camera (Left - center only)
  • Velodyne VLP-16 (Based on DataspeedInc)

  • Velodyne HDL-32 (Based on DataspeedInc)

  • Velodyne HDL-64 (Since 3D meshes are not available, those of HDL-32 model are used instead)

Calibration target

  • Calibration pattern with wood (maple) texture
  • Calibration pattern with chessboard texture
  • Chessboard planes for recreating worlds required to test the KIT Calibration Toolbox

Gazebo plugins

Velodyne plugin providing sensor_msgs/PointCloud2 with same structure as driver (x, y, z, intensity, ring) and simulated Gaussian noise. (Code from DataspeedInc, although minor patch for vertical resolution issue is included)

Known Issues

  • Gazebo can take up to 30 seconds to load the VLP-16 plugin, 60 seconds for the HDL-32E, and much more HDL-64E
  • Gazebo cannot maintain 10Hz with large pointclouds
    • Solution: User can reduce number of points in urdf

Example Gazebo Calibration Scenario

roslaunch velo2cam_gazebo real_stereoVLP16_trans.launch


[1] Guindel, C., Beltrán, J., Martín, D. and García, F. (2017). Automatic Extrinsic Calibration for Lidar-Stereo Vehicle Sensor Setups. IEEE International Conference on Intelligent Transportation Systems (ITSC), 674–679.

Pre-print available here

Wiki: velo2cam_gazebo (last edited 2017-12-15 12:42:22 by beltransen)