Risley_prism LiDARs not getting any data back, after CARLA recompilation

[albertojl24]

Hello there,

I have tried to implement your library within CARLA and ROS, but I see that after following all the steps mentioned in the repo, the LIVOX LiDARs seem to return empty data:

Output print: CARLA LIDAR: LidarMeasurement(frame=36016, timestamp=523.499065, number_of_points=0)
Even though the creation of those LiDARs are correct from CARLA's side:

creating tele
Tele_csv file read successfully
create tele successfully
creating lasers of Risley_prism

[CaoShuxing]

hello，Have you successfully integrated the RainyPCSim library?
Have you encountered any problem with ProxyParticleSpawn compilation errors?

[AitorIglesias]

Hello there,

I have tried to implement your library within CARLA and ROS, but I see that after following all the steps mentioned in the repo, the LIVOX LiDARs seem to return empty data:

Output print: CARLA LIDAR: LidarMeasurement(frame=36016, timestamp=523.499065, number_of_points=0) Even though the creation of those LiDARs are correct from CARLA's side:

creating tele
Tele_csv file read successfully
create tele successfully
creating lasers of Risley_prism

Hi @albertojl24,

Same problem, have you solve it?

[GimpelZhang]

Same problem.

But I found that there is another file in which the path should be changed: LiDARSimLib/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Sensor/Risley_prism.cpp

After I changed the path in Risley_prism.cpp, the horizon lidar had "normal" output.

I implement the LiDARSimLib in the latest carla (0.9.15): carla with LiDARSimLib & Fisheye. Hope that will help.