[Short video of problem description](https://imgur.com/a/CeAMpTh)
I have a simulated Jackal equipped with only a VLP-16 sensor. I am trying to get it to do planned navigation but there are noticeable issues namely jerky and timing issues viewed from Gazebo and RViz along with poor navigation results.
*Jackal Gazebo Model with VLP-16 front mounted*
How would I go about effectively navigating this UGV equipped with a VLP-16 with Pointcloud to LaserScan conversions?
**Below are the steps to reproduce:**
*Jackal and Sensor Kinetic ROS packages used*
```apt-get install -y ros-kinetic-jackal* ros-kinetic-velodyne* ros-kinetic-pointgrey* ros-kinetic-pointcloud-to-laserscan
```
*4 terminals to launch from*
```roslaunch jackal_gazebo jackal_world.launch config:=base
```
```roslaunch jackal_viz view_robot.launch config:=navigation
```
```roslaunch jackal_navigation odom_navigation_demo.launch config:=base
```
```roslaunch point2laser.launch
```
*Custom point2laser.launch file contents:*
transform_tolerance: 0.01
min_height: 0.25
max_height: 0.75
angle_min: -3.1415
angle_max: 3.1415
angle_increment: 0.01
scan_time: 0.1
range_min: 0.9
range_max: 130
use_inf: true
concurrency_level: 0
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