Updates stretch_mujoco_driver to use sim.pull_lidar_points() - #60
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hello-robot-shehab wants to merge 3 commits into
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Updates stretch_mujoco_driver to use sim.pull_lidar_points() #60hello-robot-shehab wants to merge 3 commits into
hello-robot-shehab wants to merge 3 commits into
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…get left/right lidar point clouds and publish them
hello-robot-shehab
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to get left/right lidar point clouds and publish them.
Camera and lidar topics are now Best Effort reliability.
To test
ros2 launch stretch_simulation stretch_mujoco_driver.launch.py use_cameras:=trueand in RViz, make sure the lidar point clouds are visible.