From 1146f91c77c3fe06de4a328af7fdae99bdb0c101 Mon Sep 17 00:00:00 2001
From: f0reachARR <f0reach@f0reach.me>
Date: Thu, 18 Apr 2024 15:51:32 +0900
Subject: [PATCH] Fix LiDAR on top of vehicle instead of bottom of vehicle

---
 .../src/sensor_simulation/lidar/lidar_sensor.cpp                 | 1 +
 1 file changed, 1 insertion(+)

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
index 14d4a427f2d..1d6978b8acf 100644
--- 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);