Hi there,

I am new to ROS and Gazebo, please excuse me if this has been answered.

I am trying to use citysim as my world to run a simulated husky robot. Everything works well, the navigation stack is able to identify static obstacles but when encountering a dynamic obstacle, the /scan topic does not produce the moving obstacle in RVIZ and hence does not produce anything in my costmaps.

I can see that all cars have a collision and I do receive laser scans from parked cars, its just moving cars that do not show returns for the laserscan.

Note pedestrians also do not have a laserscan return.

Parked cars could be seen but not moving cars

The moving car (middle) cannot be seen by the laser scan

Thanks in advance