Use realistic LiDAR position in simple_sensor_simulator #1235
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Description
Abstract
Fixes for #1193
Background
As I mentioned at #1227, LiDAR origin passed to Raycaster is too low (Ego bottom), and it detects objects that should be occluded.
Details
To make LiDAR realistic, this PR will change LiDAR position to top of the Ego vehicle.
Before
After
In the images, pink points are LiDAR scan.
Before this PR, LiDAR is located on the bottom of the vehicle and reads the pedestrian's feet. This is not realistic and detects some objects that should be occluded.
The after image shows that the pedestrian is occluded by npc1 and does not appear in the LiDAR scan results.
Note
In some cases, OccupancyGridSensor emits objects that we thought it was occluded (like images on #1193). This is because simulator converts three dimensions into two-dimensional information.
As research of Autoware probabilistic_occupancy_grid_map, such situation can be happen in real sensor.
In order to mimic Autoware's behavior, I have not excluded such cases.
Destructive changes
LiDAR is repositioned to the top of vehicle.
Because of this change, errors may be seen in some scenarios. Regression test is needed.