I’m trying to simulate a 360-LiDAR in SITL. Using the info on this page, I managed to get a virtual RPLidar working. The page further recommends to start the simulation at the coordinates 51.8752066,14.6487840,54.15, which seem to have a regular pattern of obstacles located around them.
My question is: Where do these obstacles come from? Are they’re hardwired somewhere or does sim_vehicle.py silently feed them into MAVProxy during startup? And most importantly: How do I create my own obstacles at a location of my choosing?