use mid-360 to scan the ground

[surepay123456]

I integrated it with fast-planner, and when i used the mid 360, the point cloud cannot scan the ground . I haved change the vertical_fov. But it didn't work.

` How do i param it? thanks. 

[jackykongfz]

It is caused by the -7 degree downward FoV angle of MID360 LiDAR, it is how the real MID360 LiDAR behaves. But you can add a rotation for the LiDAR sensing to simulate a tilt mounted LiDAR, just by changing the rot_body2lidar matrix in pointcloud_render_node.cpp (CPU version) ` Eigen::Matrix3d rot_body2lidar = Matrix3d::Identity();

// rotate lidar // Eigen::Vector3d eulerAngle_body2lidar(0,0.5236,0); // Eigen::AngleAxisd rollAngle(AngleAxisd(eulerAngle_body2lidar(0),Vector3d::UnitX())); // Eigen::AngleAxisd pitchAngle(AngleAxisd(eulerAngle_body2lidar(1),Vector3d::UnitY())); // Eigen::AngleAxisd yawAngle(AngleAxisd(eulerAngle_body2lidar(2),Vector3d::UnitZ())); // rot_body2lidar=yawAnglepitchAnglerollAngle; // rotate lidar end`