# \#forest3d

**URL:** https://discourse.openrobotics.org/tag/forest3d/557.md

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## [Rover + LiDAR perception inside a Forest3D-generated world (Gazebo Harmonic)](https://discourse.openrobotics.org/t/rover-lidar-perception-inside-a-forest3d-generated-world-gazebo-harmonic/52977)

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**Author:** [@khalidbourr](https://discourse.openrobotics.org/u/khalidbourr)\
**Replies:** 0\
**Last updated:** [March 5, 2026, 11:42pm UTC](https://discourse.openrobotics.org/t/rover-lidar-perception-inside-a-forest3d-generated-world-gazebo-harmonic/52977 "2026-03-05T23:42:01Z")

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Rover + LiDAR inside a Forest3D-generated world (Gazebo Harmonic) A quick demonstration of spawning a robot and running LiDAR perception inside a Forest3D-generated environment with realistic visuals, making it a solid b…