Home | Tutorials | Wiki | Issues
Ask Your Question

GPU laser sensor reflects transparent glass material

asked 2017-01-26 06:16:16 -0600

bustun gravatar image

Hello, I want to simulate a glass wall in Gazebo and see that the laser scanner can't detect it. In my model I tried to give different laser_retro and transparency settings. In Rviz I always see that the transparent wall reflects the laser scans. Can anybody shed some light on this ?

edit retag flag offensive close merge delete


Can you post the version of gazebo you are using, the models you are simulating, the version of ROS, and any relevant code?

nkoenig gravatar imagenkoenig ( 2017-01-26 09:37:36 -0600 )edit

2 Answers

Sort by ยป oldest newest most voted

answered 2017-01-26 13:23:49 -0600

bustun gravatar image

updated 2017-01-26 13:24:25 -0600

I use Gazebo version 7.4 ROS Kinetic on Ubuntu 16.04

Below is the wall that is supposed not to reflect laser scans.

 <model name="glass1">
<pose>7 2 1 0 0 0</pose>
<link name="link">
  <collision name="visual">
     <geometry><box><size>0.1 2 2</size></box></geometry>
  <visual name="visual1">
     <geometry><box><size>0.1 2 2</size></box></geometry>


Here is the laser plugin definition:

<gazebo reference="hokuyo_link">
<sensor type="gpu_ray" name="hokuyo">
 <pose>0 0 0 0 0 0</pose>
       <min>0.10</min> <max>30.0</max>
 <plugin name="gpu_laser" filename="libgazebo_ros_gpu_laser.so">
edit flag offensive delete link more


You should update the question and not post an answer since this isn't an answer.

wentz gravatar imagewentz ( 2018-09-13 03:08:36 -0600 )edit

answered 2018-09-06 09:46:38 -0600

wentz gravatar image

updated 2018-09-06 09:48:48 -0600

So basically the gpu laser will only detect a link's visual. One solution to your problem would be to simply delete the

<visual name="visual1">

in your sdf. But you would not be able to see the object in the simulation. Another possibility is to delete the

<collision name="visual">

Element in your sdf and use the non gpu version of the sensor. This sensor will only detect a link's collision and you will be still able to see the object in the simulation. To do this you also need to change the sensor type:

<sensor type="ray" name="hokuyo">

and the plugin:

<plugin name="gazebo_ros_head_hokuyo_controller" filename="libgazebo_ros_laser.so">
edit flag offensive delete link more
Login/Signup to Answer

Question Tools

1 follower


Asked: 2017-01-26 06:16:16 -0600

Seen: 1,041 times

Last updated: Sep 06