[Clearpath Husky] Integrating Velodyne VLP-16 Lidar into prebuild Husky RViz script

Hello, we are working with Husky A200 and bought an velodyne VLP-16 Lidar.
We can see the sensor data in Rviz but want to connect these data relative to the position of Husky.
How can we integrale this?
Thanks for your help :slight_smile:

Hi @danielschmid,

You can add Velodyne VLP-16 Lidar by simply adding the URDF with the correct corresponding tf_frame to the Husky’s URDF. Then when you launch the driver it should correctly display the information.