Question about Gazebo Simulation Model for the LSLIDAR C16

General
1

Hello organizers and fellow teams,

In preparation for the ERC 2025 Remote Formula, my team is working on building a robust simulation environment in Gazebo for the Husarion Panther platform. We are following the Technical Handbook, which points to the official Husarion GitHub repositories for robot models.

Our current challenge is finding a simulation-ready model for the LSLIDAR C16. We have thoroughly searched the husarion_ugv_description repository and specifically the husarion_components_description repo—which seems like the correct place for individual sensor models—but we were unable to find a .xacro ans launch file for this specific LiDAR.

We were hoping to find a pre-made file with the necessary Gazebo plugin and pre-configured ROS 2 topic names to align our software with the setup for the ROS Test and Final Challenge.

Could you please clarify if a “plug and play” simulation model for the LSLIDAR C16 is available? If not, could you confirm so we can begin developing our own custom model?

Thank you for your guidance.

Best regards,

Team NSpace

2

Hey Team NSpace,

We’re also working with the Panther platform with Gazebo and we faced the same challenge. While there’s no dedicated LSLIDAR C16 model, we successfully used the Velodyne Puck from husarion_components_description as a drop-in replacement.

Both models have:

16-channel design with identical vertical resolution (2°)

360° horizontal FOV

Matching rotation rates (5/10/20 Hz)

Comparable accuracy (±3cm)

Near-identical dimensions (Velodyne: Ø103mm × 72mm vs C16: Ø102mm × 78mm)

Minor Differences & Fixes:

Range: C16 reaches 150m vs Velodyne’s 100m.

Solution: Adjust in the Gazebo plugin to 150.0.

The Velodyne plugin worked out-of-the-box with ROS 2 navigation (tested with Nav2). Sensor noise and occlusion behaviors felt realistic enough for scoring simulations.

Best,

Tejas Kulkarni

Mars Rover Team, IIT Bombay

1 Like