TaoYibo

Sorry to comment here. I have trouble writing my C++ version of range-finder plugin to broadcast point cloud. Could you have a look at it? `depth_camera.hpp` ```cpp #ifndef DIFFDRIVE_WEBOTS_DEPTH_CAMERA_HPP #define...

Thank you for your test. I agree that the bottleneck is my plugin but what confuse me is that when rviz didn’t subscribe the point cloud topic simulation was around...

I wrote a simple point cloud subscriber and used it to test simulation speed. It seems that simulation speed didn't went down, so maybe the drop is caused by rviz?...

I found out that i made a mistake iterating range image. In function `void DepthCamera::step()`, `int idx = j * height + i;` should be `int idx = j *...

> @TaoYibo1866 Maybe it would be useful to integrate the code into the RangeFinder static plugin: > https://github.com/cyberbotics/webots_ros2/blob/master/webots_ros2_driver/src/plugins/static/Ros2RangeFinder.cpp Thank you, I will try to modify it. However, since you mentioned...

This cross-multiplication is valid, but always return zero. In this [paper](https://arxiv.org/pdf/1003.2005.pdf), there is > M = −kR * eR − kΩ * eΩ + Ω × JΩ The code you...