lidar_visualization points rendering with offset from model surface

asked 2022-07-18 00:12:48 -0500

Hi -

I'm trying to use the visualize_lidar plugin (code here), but the point cloud is shown with an offset to the surface mesh. It looks almost like there's an issue with the transformation of the points due to the pose of the sensor, as you can seem some shown on the surface in the second image.

Any thoughts on what's happening and how to get the points to display on the surface? I'm very new to Gazebo, so sorry if there's something really obvious I'm missing.

A sample code with my sensor configuration: C:\fakepath\LIDAR_visualizationError.sdf

I'm using a standalone instance of ignition-gazebo 6.10.0

points offset from custom surface model points offset from box model, though some are visible at the base of the model

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