Add organize_cloud parameter

config/rslidar16_sim_config.yaml

@@ -8,3 +8,4 @@ collision_range: 0.3
 min_range: 0.1
 max_range: 130.0
 noise: 0.008
+organize_cloud: false

config/velodyne_hdl32_sim_config.yaml

@@ -8,3 +8,4 @@ collision_range: 0.3
 min_range: 0.9
 max_range: 130.0
 noise: 0.008
+organize_cloud: false

config/velodyne_vlp16_sim_config.yaml

@@ -8,3 +8,4 @@ collision_range: 0.3
 min_range: 0.1
 max_range: 130.0
 noise: 0.008
+organize_cloud: false

urdf/velodyne.gazebo

@@ -41,6 +41,7 @@
           <frameName>${name}</frameName>
           <min_range>${properties['min_range']}</min_range>
           <max_range>${properties['max_range']}</max_range>
+          <organize_cloud>${properties['organize_cloud']}</organize_cloud>
           <gaussianNoise>${properties['noise']}</gaussianNoise>
         </plugin>
       </sensor>