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There are a few ROS packages/libraries that support raycasting into (their respective) map representations. I'm not aware of a ready-made tool for generating virtual LIDAR scans, but it would be relatively easy to create one using for instance using grid_map's line iterator for 2D map data or octomap_ros's castRay for 3D map data.
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There are a few ROS packages/libraries that support raycasting into (their respective) map representations. I'm not aware of a ready-made tool for generating virtual LIDAR scans, but it would be relatively easy to create one using for instance using grid_map's line iterator for 2D map data or octomap_ros's castRay for 3D map data.
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