Visualizing ray traces

edit

I'm working on a plugin that creates a more realistic GPS sensor by performing ray traces to satellites and determines if any are blocked by the environment. I've been able to create a plugin that uses a Physics::RayShape to perform the ray traces and detect blockages. I would like to be able to visualize those ray traces in the Gazebo environment similar to how a LIDAR scan is shown. I haven't been able to figure out exactly where the visual representations are created though. Does anyone know the best way to approach this?

Thanks,

David