How can I create vertically uneven ray sensor

[osrf-migration]

Original report (archived issue) by HaoQChen (Bitbucket: HaoQChen).

---

<http://gazebosim.org/tutorials?cat=guided_i&tut=guided_i1>I am following this tutorial to create my 3D lidar. Also refer to [velodyne_simulator]([https://bitbucket.org/DataspeedInc/velodyne_simulator/src/master/](https://bitbucket.org/DataspeedInc/velodyne_simulator/src/master)\)

But their rays are all uniformly distribute between min_angle and max_angle in the vertical direction. I want my rays to be uneven like 0°, 5°, 8°, 10°,……How can I do that? Thanks

[osrf-migration]

Original comment by Peter Mitrano (Bitbucket: peter_mitrano).

---

I would just copy and adapt that plugin. Specifying what angles you want is going to be ugly, but I supposed you could add an SDF element

<verticle_angles>0 5 8 10 … </>

where you list them all. In the future this would be a question better suited to the gazebo forums http://answers.gazebosim.org/, and please close this issue if it’s resolved.