I am trying to simulate a Velodyne puck Lite on Gazebo Garden but I am not sure how to go about the rotation speed of the lidar. Does adjusting the update rate and making the angle of the rays of the sensor 360 account for the actual speed of rotation of the lidar? Or should add a rotating link somehow and try to simulate the rotation of the sensor ?

This is important to me because I'm trying to test how fast can the lidar can go while still detecting the artifacts in the environment.



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