Lidar in simulation
Hi. Let's say that I want to add a Lidar sensor (eg. Velodyne 3D) on a robot_description, in simulation. What plugin should I use? My guess is I should use a laser plugin (eg. Libgazebo_ros_laser.so), is that right?
In addition, what is the normal usage of Lidar's data? By this I mean do I use the laserscan directly as input to other nodes like gmapping? Or do I need to first convert laserscan to pointcloud2 or other forms like odom?
Thanks in advance!