Hi there. I am working on a project regarding the creation of a custom plugin in Gazebo Harmonic. The project requires creating a Custom Plugin that will run in parallel to the Lidar Sensor (built-in Gazebo Harmonic). The custom plugin, calling it “LightBarrier” for this argument, will subscribe to the Lidar sensor topic in the Gazebo and process its range output values. It will then return a boolean value if the range values are less than any specific threshold defined by the user in model.sdf. I want to ask if someone can help me in this project by recommending a strategy to implement the solution. Or if you have already seen or done a similar implementation, can you share the reference with me?
Regards,
Omar