# gpu_ray sensors bad behaviour when increasing samples

Hello everybody,

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

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>
<topicName>scan_loc</topicName>
<frameName>/scan_loc</frameName>
</plugin>
</sensor>
</gazebo>


And there is the problem:

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 ?