A laser simulator rospackage.
Takes in a global point cloud map, and output the observed point cloud in laser coordinate according to the input odometry.
Change the odom_topic and map_topic in /launch/params.yaml to fit your own.
Tunable parameters are described in /launch/params.yaml.
After building, in two separate terminal, run
$ roslaunch laser_simulator laser_sim.launch
$ roslaunch laser_simulator play_bag.launch
and you will see
GPU version on the way...