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Methods or ROS package for Virtual laser scan by ray casting

asked 2019-05-17 13:27:32 -0500

A_Hari

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Hi All, I wanted to obtain the 2D LIDAR measurements at a specific location virtually without being at that position through ray casting or some other method. So I wanted to know if there are any suggested methods or ROS packages that can help me to achieve this.

Appreciate your time. Thanks

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answered 2019-05-17 14:07:28 -0500

Stefan Kohlbrecher

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updated 2019-05-19 17:31:26 -0500

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 grid_map's line iterator for 2D map data or octomap_ros's castRay for 3D map data.

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Sure! I will try it. Thanks Stefan.

A_Hari ( 2019-05-19 06:02:27 -0500 )edit

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Asked: 2019-05-17 13:27:32 -0500

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Last updated: May 19 '19

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Methods or ROS package for Virtual laser scan by ray casting