Hi,

i am trying to use the MobileSim to simulate a pioneer and to get a map of the world. I can spawn a robot in that world an can connect to it with RosAria. But i just get a sonar topic with message type poincloud. Is It possible to get a LaserScan instead ? If i look at the img on their homepage it must be possible to simulate an normal laser.

At the moment i get a behavior as the robot on the top left. But i need a LaserScan like the Robot at the bottom. Does Anyone knows how i can achieve that ?