Fix LiDAR on top of vehicle instead of bottom of vehicle

tier4 · Apr 18, 2024 · 1146f91 · 1146f91
1 parent 99f7276
commit 1146f91
Showing 1 changed file with 1 addition and 0 deletions.
diff --git a/simulation/simple_sensor_simulator/src/sensor_simulation/lidar/lidar_sensor.cpp b/simulation/simple_sensor_simulator/src/sensor_simulation/lidar/lidar_sensor.cpp
@@ -36,6 +36,7 @@ auto LidarSensor<sensor_msgs::msg::PointCloud2>::raycast(
       geometry_msgs::msg::Pose pose;
       simulation_interface::toMsg(entity.pose(), pose);
       ego_pose = pose;
+      ego_pose->position.z += entity.bounding_box().dimensions().z();
     } else {
       geometry_msgs::msg::Pose pose;
       simulation_interface::toMsg(entity.pose(), pose);