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Gazebo ROS Ray Sensor Plugin -- laser_retro tag is not working when set to type=gpu_ray #1522

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andrestoga opened this issue Feb 14, 2024 · 0 comments

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@andrestoga
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ROS-Humble
Ubuntu 22.04
Gazebo 11

The laser_retro tag in the collision section in an object inside a Gazebo world works well with the non-GPU version of the Gazebo ray plugin but using the GPU version doesn't.

I added the laser_retro with a value of 127 to some objects in a Gazebo world. Then, run the simulation with the ray plugin configure to type-"ray" with the rays of the laser scanner colliding with the objects that have the laser_retro set to 127. In this case, I got some laser scanner points with an intensity value of 127.
I repeated the same experiment but this time with the ray plugin configure to type-"gpu_ray" and this time I didn't get any laser scanner point with an intensity value of 127 but 0

Does someone know what's going on?

@andrestoga andrestoga changed the title laser_retro is not working with the Gazebo ray plugin set to type=gpu_ray Gazebo ros ray sensor plugin -- laser_retro is not working when set to type=gpu_ray Feb 14, 2024
@andrestoga andrestoga changed the title Gazebo ros ray sensor plugin -- laser_retro is not working when set to type=gpu_ray Gazebo ROS Ray Sensor Plugin -- laser_retro is not working when set to type=gpu_ray Feb 14, 2024
@andrestoga andrestoga changed the title Gazebo ROS Ray Sensor Plugin -- laser_retro is not working when set to type=gpu_ray Gazebo ROS Ray Sensor Plugin -- laser_retro tag is not working when set to type=gpu_ray Feb 14, 2024
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