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You can consider velodyne's implementation which extends the default gazebo_ros_block_laser to publish PointCloud2

You can consider velodyne's implementation which extends the default gazebo_ros_block_laser to publish PointCloud2

Just run

sudo apt install ros-melodic-velodyne-gazebo-plugins

and replace, in your model.sdf, libgazebo_ros_block_laser.so with libgazebo_ros_velodyne_laser.so

You can consider velodyne's implementation which extends the default gazebo_ros_block_laser to publish PointCloud2

Just run

sudo apt install ros-melodic-velodyne-gazebo-plugins

and replace, in your model.sdf, libgazebo_ros_block_laser.so with libgazebo_ros_velodyne_laser.so