From 1146f91c77c3fe06de4a328af7fdae99bdb0c101 Mon Sep 17 00:00:00 2001
From: f0reachARR <f0reach@f0reach.me>
Date: Thu, 18 Apr 2024 15:51:32 +0900
Subject: [PATCH 1/2] Fix LiDAR on top of vehicle instead of bottom of vehicle

---
 .../src/sensor_simulation/lidar/lidar_sensor.cpp                 | 1 +
 1 file changed, 1 insertion(+)

diff --git a/simulation/simple_sensor_simulator/src/sensor_simulation/lidar/lidar_sensor.cpp b/simulation/simple_sensor_simulator/src/sensor_simulation/lidar/lidar_sensor.cpp
index 14d4a427f2d..1d6978b8acf 100644
--- a/simulation/simple_sensor_simulator/src/sensor_simulation/lidar/lidar_sensor.cpp
+++ b/simulation/simple_sensor_simulator/src/sensor_simulation/lidar/lidar_sensor.cpp
@@ -36,6 +36,7 @@ auto LidarSensor<sensor_msgs::msg::PointCloud2>::raycast(
       geometry_msgs::msg::Pose pose;
       simulation_interface::toMsg(entity.pose(), pose);
       ego_pose = pose;
+      ego_pose->position.z += entity.bounding_box().dimensions().z();
     } else {
       geometry_msgs::msg::Pose pose;
       simulation_interface::toMsg(entity.pose(), pose);

From fa5a7ac2464d09782169aa203fd8a84457d9c3e3 Mon Sep 17 00:00:00 2001
From: f0reachARR <f0reach@f0reach.me>
Date: Thu, 25 Apr 2024 11:47:56 +0900
Subject: [PATCH 2/2] Refactor: use proper variable name

---
 .../src/sensor_simulation/lidar/lidar_sensor.cpp       | 10 +++++-----
 1 file changed, 5 insertions(+), 5 deletions(-)

diff --git a/simulation/simple_sensor_simulator/src/sensor_simulation/lidar/lidar_sensor.cpp b/simulation/simple_sensor_simulator/src/sensor_simulation/lidar/lidar_sensor.cpp
index 1d6978b8acf..5fad0ee2453 100644
--- a/simulation/simple_sensor_simulator/src/sensor_simulation/lidar/lidar_sensor.cpp
+++ b/simulation/simple_sensor_simulator/src/sensor_simulation/lidar/lidar_sensor.cpp
@@ -29,14 +29,14 @@ auto LidarSensor<sensor_msgs::msg::PointCloud2>::raycast(
   const std::vector<traffic_simulator_msgs::EntityStatus> & entities,
   const rclcpp::Time & current_ros_time) -> sensor_msgs::msg::PointCloud2
 {
-  std::optional<geometry_msgs::msg::Pose> ego_pose;
+  std::optional<geometry_msgs::msg::Pose> lidar_pose;
 
   for (const auto & entity : entities) {
     if (configuration_.entity() == entity.name()) {
       geometry_msgs::msg::Pose pose;
       simulation_interface::toMsg(entity.pose(), pose);
-      ego_pose = pose;
-      ego_pose->position.z += entity.bounding_box().dimensions().z();
+      lidar_pose = pose;
+      lidar_pose->position.z += entity.bounding_box().dimensions().z();
     } else {
       geometry_msgs::msg::Pose pose;
       simulation_interface::toMsg(entity.pose(), pose);
@@ -57,12 +57,12 @@ auto LidarSensor<sensor_msgs::msg::PointCloud2>::raycast(
     }
   }
 
-  if (ego_pose) {
+  if (lidar_pose) {
     std::vector<double> vertical_angles;
     for (const auto vertical_angle : configuration_.vertical_angles()) {
       vertical_angles.push_back(vertical_angle);
     }
-    const auto pointcloud = raycaster_.raycast("base_link", current_ros_time, ego_pose.value());
+    const auto pointcloud = raycaster_.raycast("base_link", current_ros_time, lidar_pose.value());
     detected_objects_ = raycaster_.getDetectedObject();
     return pointcloud;
   } else {