Ian Chen

for now you may be able to visualize point clouds by publishing to the marker topic like in the [marker example](https://github.com/ignitionrobotics/ign-gazebo/tree/master/examples/standalone/marker) in ign-gazebo. We just started a GOSC project to...

> Though I could look at the Octomap. Would your preferred approach be similar to issue #84 for the octomap? I could begin working on an OctomapVisual. yeah that'd would...

We now have a [LidarVisual](https://github.com/gazebosim/gz-rendering/blob/gz-rendering7/include/gz/rendering/LidarVisual.hh) class for visualizing lidar point clouds. The ogre2 implementation is here: https://github.com/gazebosim/gz-rendering/blob/gz-rendering7/ogre2/src/Ogre2LidarVisual.cc. There is a gui plugin in gz-sim that essentially subscribes to lidar data...

Not sure. The world is `sensors_demo.sdf` from ign-gazebo right? I just tested that world in ign-gazebo2, 3, 4 but the cone is shown in both 3d window and sensors. Is...

> But if you care about simulation accuracy and you have a monster GPU with 16-24GB of VRAM, I guess you have the luxury of not caring. hmm that sounds...

I see, thanks for the explanation. So sounds like we should add APIs (and SDF params) to allow users to specify voxel size and HDR. As for the default values,...

I think it should be quick to move the logic to Ign. 3 sounds good. What version of ogre would this change be targeted at?

> it would be great if the test could explicitly fail on missing engine, so that it is clear that the "user" (tipically someone packaging the library) needs to set...

hmm one thing to try is to [clone](https://ogrecave.github.io/ogre-next/api/2.2/class_ogre_1_1_material.html#a28e13cc77ce7deb5f0cbe2388251224d) the material before setting it to marker's ogre item.

I also see this message native without specifying to run headless. I think it could be harmless as I'm able to continue using ign-rendering / gazebo. I see these msgs...