I want to change the range of the sensor.

[romaster93]

I am using a LiDAR sensor tilted 30 degrees forward for ground recognition. Therefore, I want to select the sensor range as KLidar and adjust the angle in the GBPlanner. Can I make this change in param.cc?

[MihirDharmadhikari]

Hi @romaster93 ,

Yes, you can make these changes from the gbplanner_config.yaml itself.
To set the orientation of the sensor, you can use this parameter. The order is roll, pitch, yaw.
Similarly, the range can be set here.

Best,
Mihir