# Revision history [back]

### GpuRaySensor do not support intensity readings

Hello all

I tried to create a laser sensor plugin based on the gazebo::sensors::GpuRaySensor. After lots of head breaking i discovered that this sensor do not support intensity reading. The GpuRaySensor::GetRetro function that suposed to provied the intensity readings in the GpuRaySensor.cc file looks like this :

double GpuRaySensor::GetRetro(int /*_index*/) const
{
return 0.0;
}


https://bitbucket.org/osrf/gazebo/src/d6bfa5238c7c0cb3963716df16475b97f1f0051b/gazebo/sensors/GpuRaySensor.cc?at=default

The questions are : why is it so ? Is there a fundamental difficulty in applying GPU for intensity reading, or is there some other reason ? and also, does this capability is planed to be added in the near future ?

Thanks.

### GpuRaySensor do not support intensity readings

Hello all

I tried to create a laser sensor plugin based on the gazebo::sensors::GpuRaySensor. After lots of head breaking i discovered that this sensor do not support intensity reading. The GpuRaySensor::GetRetro function that suposed to provied the intensity readings in the GpuRaySensor.cc file looks like this :

double GpuRaySensor::GetRetro(int /*_index*/) const
{
return 0.0;
}


https://bitbucket.org/osrf/gazebo/src/d6bfa5238c7c0cb3963716df16475b97f1f0051b/gazebo/sensors/GpuRaySensor.cc?at=default

The questions are : why is it so ? Is there a fundamental difficulty in applying GPU for intensity reading, or is there some other reason ? and also, does this capability is planed to be added in the near future ?

Thanks.

Hello all

I tried to create a laser sensor plugin based on the gazebo::sensors::GpuRaySensor. After lots of head breaking i discovered that this sensor do not support intensity reading. The GpuRaySensor::GetRetro function that suposed to provied the intensity readings in the GpuRaySensor.cc file looks like this :

double GpuRaySensor::GetRetro(int /*_index*/) const
{
return 0.0;
}


https://bitbucket.org/osrf/gazebo/src/d6bfa5238c7c0cb3963716df16475b97f1f0051b/gazebo/sensors/GpuRaySensor.cc?at=default

The questions are : why is it so ? Is there a fundamental difficulty in applying GPU for intensity reading, or is there some other reason ? and also, does this capability is planed to be added in the near future ?

Thanks.

### Why GpuRaySensor do not support intensity readings ?

Hello allall

I tried to create a laser sensor plugin based on the gazebo::sensors::GpuRaySensor. After lots of head breaking i discovered that this sensor do not support intensity reading. The GpuRaySensor::GetRetro function that suposed to provied the intensity readings in the GpuRaySensor.cc file looks like this :

double GpuRaySensor::GetRetro(int /*_index*/) const
{
return 0.0;
}


https://bitbucket.org/osrf/gazebo/src/d6bfa5238c7c0cb3963716df16475b97f1f0051b/gazebo/sensors/GpuRaySensor.cc?at=default

The questions are : why is it so ? Is there a fundamental difficulty in applying GPU for intensity reading, or is there some other reason ? and also, does this capability is planed to be added in the near future ?

Thanks.