Server Example: Ray Scan LiDAR

Overview

Sweeps rays from a robot frame to emulate a LiDAR scan and visualizes hits with instanced boxes. This is a compact example of ray-based sensing.

Screenshot

ray_scan_lidar example

Binary

Installed executable: ray_scan_lidar.

Run

Run the installed executable:

<raisim-install>/bin/ray_scan_lidar

On Windows, run ray_scan_lidar.exe instead. This example uses RaisimServer. Start the rayrai TCP viewer and connect to port 8080. RaisimUnity and RaisimUnreal are no longer supported.

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.