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lvfengchi / livox_laser_simulation

This is a simulation of Livox lidar
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Reflectivity is fixed (=100) regardless of material. #12

Closed hmorita2020 closed 2 years ago

hmorita2020 commented 2 years ago

intensity "= rayShape->GetRetro(pair.first);" is always returned 0, and Reflectivity is assigned 100. pt.reflectivity = 100; It would be very helpful to get intensity that changes with the material, is there any fix for that?

EpsAvlc commented 2 years ago

Does gazebo support providing different reflectivity w.r.t materials? I used to try it but in my memory, gazebo doe not support this feature.(All reflectivity equals.) If you have idea about it, please notify me.

hmorita2020 commented 2 years ago

Thank you for your response.
checked the source code and unfortunately it is not supported... I’ll consider the method.

https://github.com/gazebosim/gz-sensors/blob/ign-sensors6/src/Lidar.cc double Lidar::Retro(const int /_index/) const { return 0.0; }