Hi,

I wonder if there is a way to use the laser scan simulator on a Occupancy Grid Map. There are some laser scan simulators:

• https://github.com/josephduchesne/light_scan_sim
• https://github.com/clearpathrobotics/occupancy_grid_utils

but non of them are tracing around the edge of each cell, just to the center. The result is something like this:

but I want something like these, like the hokuyo_link in gazebo:

Is that possible?

Best,