Incorrect visualization of LiDAR

System information (version)

• Ubuntu 16.04 64bit
• ROS Kinetic
• CARLA v0.9.2(compiled version)
• ros-bridge https://github.com/carla-simulator/ros-bridge/commit/b054cee0d9a1d2edcc6829c81cfcce4dbca4a94a

Detailed description

I tried to use ros-bridge and visualize LiDAR data using rviz. But, I think that visualization of LiDAR data is incorrect.

It seems that the result of visualization is correct when the vehicle stops.

But, it seems that the result of visualization is incorrect and points of past frame remain when the vehicle moves.

I could not determine the problem which is the problem between CARLA and ros-bridge.

Steps to reproduce

CarlaUE4

$ cd ${CARLA_ROOT}
$ ./CarlaUE4.sh -carla-server -windowed -ResX=320 -ResY=240

carla_ros_bridge

$ source ~/ros/catkin_ws_for_carla/devel/setup.bash
$ roslaunch carla_ros_bridge client_with_rviz.launch

manual_control

$ cd ${CARLA_ROOT}
$ python manual_control.py

And, I selected LiDAR as sensor.

[atinfinity]

@danil-tolkachev Thank you for your solution. It seems that the result of visualization is correct.

[atinfinity]

@gnykumar Thank you for your proposal! I’ll try this proposal.