Is it possible to add a reflectivity property to a mesh?

I am creating a simulation which consists of a car and I would like to get some features from it. In a real scenario, there is noise in the LiDAR data when scanning the car, probably because of the surface reflectivity. Is it possible to simulate an effect like this in Gazebo?

I have a mesh but I couldn't find a reflectivity property in the sdf documentation.

Asked by igricart on 2021-08-11 03:01:28 UTC

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Answers

There is laser_retro that can be attached to a visual to give that visual a floating-point value for the intensity from LiDAR. The whole visual will give you the same intensity value though (but you can split your meshes further to give various values to various parts, a bit tedious though). I'm not sure if this works only on GPU LiDAR or also the CPU LiDAR.

Asked by Veerachart on 2021-08-30 05:09:30 UTC