run the simulation,rivz has pointcloud topic,but gazebo does not have laser light

[sunnyow]

i have correctly install livox_sdk and livox_ros_driver

[sdwyc]

@sunnyow Hi, Excuse me! Have you solve the problem? I also encounter the similar problem.

[john-maidbot]

This happens because in the urdf, the tag has been placed under the tag, so Gazebo does not parse it properly. This is ok for the plugin, since it is handling the ray casting rather than Gazebo, but as you noticed, it breaks the Gazebo visualization.
If you want to visualize the sensor rays in gazebo, you will need to copy the block so it is under the <sensor type="ray...> block. However, this will not quite match the non-uniform pattern of the plugin. It will visualize the rays as a uniform, multiray scan.

e.g. for the mid360, you would copy this block

livox_laser_simulation/urdf/livox_mid360.xacro

Line 27 in 1cce107

<ray>

and paste it so it is directly under this block

livox_laser_simulation/urdf/livox_mid360.xacro

Line 21 in 1cce107

<sensor type="ray" name="laser_${name}">