The resolution seems different in the vertical direction from the real sensor or example about VLP-16

[TangTao]

I have downloaded the entire repository into my pc and launch your example, and it works fine like you attached image. But when i use it in my own project and set the similar parameters like your example, the /velodyne_points topic exist while the data points are extremely sparse. This problem confuses me a lot and it will be so kind of you to help me out.

The xacro file is attached as follow.

[Kevin Hallenbeck]

It looks like the math in your radar.xacro file for the vertical angles needs to be escaped: ${15.0*3.14159/180.0}

[TangTao]

It’s just like you point, and the problem solved by add the $. Appreciate sincerely.