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 repoâwhich seems like the correct place for individual sensor modelsâbut 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 âplug and playâ simulation model for the LSLIDAR C16 is available? If not, could you confirm so we can begin developing our own custom model?
Weâre also working with the Panther platform with Gazebo and we faced the same challenge. While thereâs 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°)
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.
Hello,
driver image that you provided is based on ROS2 humble Dockerfile
but in this forum post you said that we are using for this competition ROS2 jazzy exclusively [quote=âpidpawel, post:4, topic:26, full:trueâ]
Sorry for the late reply, I happened to be on vacation. We will be using Jazzy exclusively
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We are interested if we should change our setup (once again) to use humble or can we continue to use jazzy
