Simulating Velodyne Puck Lite

Hello, I am trying to simulate a Velodyne puck Lite on Gazebo but I am not sure how to go about the rotation speed of the lidar. Does adjusting the update rate and making the angle of the rays of the sensor 360 account for the actual speed of rotation of the lidar? Or should add a rotating link somehow and try to simulate the rotation of the sensor ?

This is important to me because I'm trying to test how fast can the lidar can go while still detecting the artifacts in the environment. So any help is appreciated.

Thanks!

Asked by mh1309 on 2022-12-01 10:42:25 UTC

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Answers

I don't believe the rotation speed is modeled in Gazebo's Lidar sensor, i.e, there is no time delay between consecutive rays. Adding a rotating link and trying to simulate this behavior probably won't perform very well. If you really have to model the rotation speed of the lidar, you'll probably have to modify how the sensor generates the data in gz-rendering.

Asked by azeey on 2022-12-05 15:24:28 UTC