Laser pose from gazebo to player

All,

I'm working on adding more functionality to gazebo so that the interface
to player is more feature rich!  I'm doing that to get a 3D simulator
working with player, while I still use player.

I'm working based on gazebo 8.

So far I have added the GPS, and that seems to work fine.

I have now modified the laser interface and most of the data is now
passed to player and a lasertoranger can make sense of it.  So (almost)
all good.

What is missing is the pose of the laser.  I might be wrong but it seems
that gazebo only has a world pose for the laser, not a pose relative to
whatever it is mounted to.

Anybody has any idea?  Have I missed something obvious?

Cheers,

Fred


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