A nice feature for the future (not for this PR) would be that this node simply listens to a pose message or tf frame and then outputs a simulated lidar exactly from that position. That way you could e.g. hook the node up with one of these markers that you can move around in rviz and you have an interactive simulation of a LiDAR in a mesh.
A nice feature for the future (not for this PR) would be that this node simply listens to a pose message or tf frame and then outputs a simulated lidar exactly from that position. That way you could e.g. hook the node up with one of these markers that you can move around in rviz and you have an interactive simulation of a LiDAR in a mesh.
Originally posted by @hermannsblum in https://github.com/ethz-asl/cad-percept/pull/72