# Revision history [back]

I know this answer is very late one, but I will post just for a reference.

The following worked for me on Gazebo5.1, although it took a bit of time to load.
It might be a good idea to reduce the number of samples at first.

This worked, but the data seemed to have a weird orientation and were published as sensor_msgs/Pointcloud, not Pointcloud2.
I couldn't withstand the inconvenience so I modified the source of plugin in the end.

<sensor name="sensor_ray" type="ray">
<visualize>true</visualize>
<pose>0.0 0.0 0.0 0.0 0.0 0.0</pose>
<ray>
<scan>
<horizontal>
<samples>500</samples>
<min_angle>0</min_angle>
<max_angle>6.24</max_angle>
</horizontal>
<vertical>
<samples>16</samples>
<min_angle>-0.2617993878</min_angle>
<max_angle>0.2617993878</max_angle>
</vertical>
</scan>
<range>
<min>0.05</min>
<max>50.0</max>
</range>
</ray>
<plugin name="plugin_1" filename="libgazebo_ros_block_laser.so">
<gaussianNoise>0.00</gaussianNoise>
<hokuyoMinIntensity>1</hokuyoMinIntensity>
<alwaysOn>true</alwaysOn>
<updateRate>5</updateRate>
<topicName>gazebo_vlp</topicName>