This is virtual lidar package for me
pip3 install py-getch
roslaunch pl_visualizer map_generator.launch
Nav_msgs/Odometry
* "/odom"
* odom of robot
Geometry_msgs/PoseStamped
* "/move_base_simple/goal"
* pose of obstacle (you can publish this topic from rviz)
Keyboard input
* Moving obstacle
* w, a, s, d = Moving verticle, horizon
* q, e, z, c = Moving diagonal
* x = terminate
Nav_msgs/Odometry
* "/robot_odom"
* odom of robot
Nav_msgs/Odometry
* "/obstacle_odom"
* odom of obstacle
Visualization_msgs/Marker
* "/visualization_marker"
* rviz marker for obstacle
Sensor_msgs/PointCloud2
* "/pseudo_scan"
* virtual lidar scan data
Nav_msgs/OccupancyGrid
* "/pseudo_scan"
* 2d Occupancy map
All of above topics are published as "map" frame
- Range (default 100.0 m)
- Horizon resolution (default 0.5 deg)