Velodyne lidar with ros2

[Ebrahim_Abdelghfar]

I am trying to integrate velodyne 16 lidar that exists in coppeliasim to publish the point cloud.

I have tried many scripts one but all of them slow down the fps of the simulation Greatly it even reached 3 fps. Is there any advice of what should i do to speed up the simulator. Or is there any code that do the following?

[coppelia]

Hello,

please show us how you are sending the point.

Cheers