FMCW LiDAR implementation in CARLA simulator is now available here: https://github.com/aevainc/carla-aeva on the aeva-lidar-plugin branch.
- Python API Example: https://github.com/aevainc/carla-aeva/blob/aeva-lidar-plugin/PythonAPI/examples/open3d_fmcw_lidar.py
- Docs: https://github.com/aevainc/carla-aeva/blob/aeva-lidar-plugin/Docs/ref_sensors.md#fmcw-lidar-sensor
