gpu_ray sensors bad behaviour when increasing samples

asked 2016-02-26 11:05:21 -0600

Brosseau.F gravatar image

updated 2016-03-07 02:03:20 -0600

Hello everybody,

I have increaser the samples of a gpu_ray sensors and I have strange laser scan. There is the world :

image description

There is the sensor settings :

<gazebo reference="scan_loc">
    <sensor type="gpu_ray" name="scan_loc_sensor">
      <pose>0 0 0.0434 0 0 0</pose>
      <visualize>false</visualize>
      <update_rate>25</update_rate>
      <ray>
        <scan>
          <horizontal>
            <resolution>1.0</resolution>
            <samples>1080</samples>
            <min_angle>-2.35</min_angle>
            <max_angle>2.35</max_angle>
          </horizontal>
        </scan>
        <range>
          <resolution>0.01</resolution>
          <min>0.10</min>
          <max>30.0</max>
        </range>
        <noise>
          <type>gaussian</type>
          <mean>0.0</mean>
          <stddev>0.01</stddev>
        </noise>
      </ray>
      <plugin name="gazebo_ros_head_hokuyo_controller" filename="libgazebo_ros_gpu_laser.so">
        <topicName>scan_loc</topicName>
        <frameName>/scan_loc</frameName>
      </plugin>
    </sensor>
</gazebo>

And there is the problem: image description

Why the data seems duplicated ? How the resolution settings is working ?

Update

According to this http://answers.gazebosim.org/question... , it could be a display problem.

I am trying to use libgazebo_ros_laser.so but I get this error :

* Error in `gzserver': malloc(): memory corruption: 0x0000000003b41670 * Service call failed: transport error completing service call: unable to receive data from sender, check sender's logs for details Aborted (core dumped)

Update 2

Problem appears when I try to increase the horizontal field of view of the sensor. If I set min_angle and max_angle to -1.57 and 1.57, there is no problem. How can I increase the horizontal field of view ?

Thanks in advance.

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