Server Example: Ray Scan LiDAR

Overview

Sweeps rays from a frame on a Husky robot to emulate a LiDAR scan and visualizes the hits with instanced boxes. This is a compact example of ray-based sensing; see Ray Test.

Screenshot

ray_scan_lidar example

Target

CMake target: ray_scan_lidar.

Run

Run the build-tree executable:

./build-examples/examples/ray_scan_lidar

On Windows, run ray_scan_lidar.exe instead. This example uses RaisimServer. Start rayrai_tcp_viewer and connect to port 8080.

Details

  • Sweeps a yaw/pitch grid and uses rayTest to emulate LiDAR.

  • Displays scan points as instanced boxes colored by range.

  • Uses an IMU frame for ray orientation and resets the robot when out of bounds.