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[sim] Added 3D LiDAR to simulation #226

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@jblevins32 jblevins32 commented Oct 27, 2024

Description

Added 3D LIDAR functionality in simulation. Publishes a PointCloud2 message to the /scan topic.

Testing Steps

Tested by launching the simulation and viewing the resulting PointCloud2 message in RViz.

Expectation: The thing which does the thing does the thing

Self Checklist

  • I have formatted my code using ament_uncrustify --reformat
  • I have tested that the new behavior works

@yambati03 yambati03 changed the title added 3D LIDAR functionality [sim] added 3D LIDAR functionality Oct 27, 2024
@yambati03 yambati03 changed the title [sim] added 3D LIDAR functionality [sim] Added 3D LiDAR to simulation Oct 27, 2024
@yambati03 yambati03 self-requested a review November 3, 2024 19:48
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Looks good to me, but wanted to check that the parameters for the simulated 3D LiDAR match our actual sensor.

@jblevins32
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I believe all the parameters are updated now. Visualization is set to false. I did not do any inertial calculations.

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2 participants