I am simulating my drone using ardupilot_gazebo plugin provided by ardupilot in gazebo using ardupilot model iris drone.
Now I want to simulate drone with 2d lidar, can anyone have experience or have a supported model that I can simulate in gazebo or having a model with physics properties that support ardupilot plugins.
Or any other way I can simulate a 2d lidar on my drone.
Note:- I also want to use the data from 2d lidar for decisions.
@atharvrahane31, Gazebo includes support for Lidar sensors, and one or more of these may be attached to an existing model by modifying the sdf. The data from the sensor is published to a Gazebo transport topic - what you do with it then depends on your requirements. The data may be transformed to ROS topics for use with various ROS navigation and sensing packages, or you may choose to write some custom application to process the data.