How to incorporate moveable sensor (Lidar) into navigation stack
I am building a robot which will move using ros navigation stack with move_base. I am using Lidar Lite 2 Laser Rangefinder to detect obstacles and for mapping as well. I have two questions regarding the use of this lidar.
Shall I use LaserScan (in obstacle_layer) or Range message data (in RangeSensorLayer) to put obstacles into the costmap. I am confused because generally Lidar is considered as a Laser sensor so it should be providing data in LaserScan format. But this specific lidar is providing range data.
I am using a motor to rotate this lidar to cover 180 degrees of scan area. How can I let my obstacle layer know the current position of lidar so that the obstacle point is inserted at the correct place in the costmap. In my robot's urdf, I can add this sensor at one frame and it will be fixed to that place according to the urdf. Is there any method to resolve this issue ?