Rotating Lidar with fixed number of sample

asked 2019-05-15 16:43:35 -0500

I want to create the rotating lidar model with fixed number of sample in one complete rotation. I have created a Velodyne rotating lidar given in this tutorial http://gazebosim.org/tutorials?cat=gu...

How can I control the number of sample in one complete rotation. The sensor I am trying to simulate produce 2048 sample in one rotation with 10 rotation per second. So a total of 20480 sample per second. Also I want to capture only certain FOV out of 360 degree. Currently I am calculating the "joint position" and saving only the the samples that falls within certain FOV. Is there any better way to do this?

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