rglgazeboplugin repository

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rglgazeboplugin repository

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rglgazeboplugin repository

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rglgazeboplugin repository

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Repository Summary

Description
Checkout URI	https://github.com/robotecai/rglgazeboplugin.git
VCS Type	git
VCS Version	main
Last Updated	2025-01-07
Dev Status	UNKNOWN
Released	UNRELEASED
Tags	No category tags.
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Packages

Name	Version
RGLGazeboPlugin	0.2.0

README

RGL Gazebo Plugin

About the project

RGL Gazebo Plugin has been created by Robotec.AI to bring Robotec GPU Lidar to Gazebo.

Key features:

Point cloud computation using hardware-accelerated raytracing (Nvidia OptiX)
High performance (~4x improvement over gpu_lidar sensor from Gazebo)
Multiple LiDAR pattern configuration methods, including importing a pattern from a binary file
Realistic presets of the most popular LiDARs

Requirements:

OS: Ubuntu 22.04 or Ubuntu 24.04
Gazebo: Harmonic
GPU: CUDA-enabled
Nvidia Driver: See RGL requirements

Installation:

Using pre-built libraries

Download libraries from release.
Make RGL plugins visible to Gazebo:
- Move libraries to the plugin’s directories.
  - If Gazebo installed from apt:

        cp libRobotecGPULidar.so /usr/lib/x86_64-linux-gnu/gz-sim-8/plugins
        cp libRGLServerPluginInstance.so /usr/lib/x86_64-linux-gnu/gz-sim-8/plugins
        cp libRGLServerPluginManager.so /usr/lib/x86_64-linux-gnu/gz-sim-8/plugins
        cp libRGLVisualize.so /usr/lib/x86_64-linux-gnu/gz-sim-8/plugins/gui
        

  - If Gazebo installed from the ROS repository ([see](https://gazebosim.org/docs/latest/ros_installation/#installing-the-default-gazebo-ros-pairing)):

        cp libRobotecGPULidar.so /opt/ros/${ROS_DISTRO}/opt/gz_sim_vendor/lib/gz-sim-8/plugins
        cp libRGLServerPluginInstance.so /opt/ros/${ROS_DISTRO}/opt/gz_sim_vendor/lib/gz-sim-8/plugins
        cp libRGLServerPluginManager.so /opt/ros/${ROS_DISTRO}/opt/gz_sim_vendor/lib/gz-sim-8/plugins
        cp libRGLVisualize.so /opt/ros/${ROS_DISTRO}/opt/gz_sim_vendor/lib/gz-sim-8/plugins/gui
        

- Or set environment variables:

    # Assuming that system plugin libraries are located in RGLServerPlugin directory,
    # and gui plugins (libRGLVisualize.so) in RGLVisualize.
    export GZ_SIM_SYSTEM_PLUGIN_PATH=`pwd`/RGLServerPlugin:$GZ_SIM_SYSTEM_PLUGIN_PATH
    export GZ_GUI_PLUGIN_PATH=`pwd`/RGLVisualize:$GZ_GUI_PLUGIN_PATH
    

Building from source

Docker

docker build \
   --target=exporter \
   --output=install .

Note: Build with ROS Jazzy using colcon

Manual

mkdir build && cd build
cmake .. && make -j && make install
cd ..
# Make it visible to Gazebo via environment variables:
export GZ_SIM_SYSTEM_PLUGIN_PATH=`pwd`/install/RGLServerPlugin:$GZ_SIM_SYSTEM_PLUGIN_PATH
export GZ_GUI_PLUGIN_PATH=`pwd`/install/RGLVisualize:$GZ_GUI_PLUGIN_PATH

Using custom build of RobotecGPULidar

By default, the RGLGazebPlugin downloads RobotecGPULidar binaries from the official release. To use your own build of RobotecGPULidar, set the following CMake variables when configuring the project:

# RGL_CUSTOM_LIBRARY_PATH - Path to the custom RobotecGPULidar library build
# RGL_CUSTOM_API_HEADER_PATH - Path to the include directory with API headers compatible with the custom library build
#                              (`include` directory of `RobotecGPULidar` project)
# Example:
cmake \
  -DRGL_CUSTOM_LIBRARY_PATH="$HOME/RobotecGPULidar/build/lib/libRobotecGPULidar.so" \
  -DRGL_CUSTOM_API_HEADER_PATH="$HOME/RobotecGPULidar/include" \
  ..

Demo:

Launch the prepared simulation from test_world directory:

gz sim sonoma_with_rgl.sdf

Start the simulation by pressing play

File truncated at 100 lines see the full file

CONTRIBUTING

rglgazeboplugin repository

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rglgazeboplugin repository

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