Sensors colliding with collision box

edit

Hi! I am having a problem with ray sensors and the collision box of the robot.

For instance, using the sonar plugin recently included:

        <sensor type="ray" name="sonar_${name}">
            <pose>${xyz} ${rpy}</pose>
            <update_rate>20</update_rate>
            <visualize>true</visualize>
            <ray>
                <scan>
                    <horizontal>
                        <samples>47</samples>
                        <resolution>1</resolution>
                        <min_angle>-0.38</min_angle>
                        <max_angle>0.38</max_angle>
                    </horizontal>
                    <vertical>
                        <samples>47</samples>
                        <resolution>1</resolution>
                        <min_angle>-0.38</min_angle>
                        <max_angle>0.38</max_angle>
                    </vertical>
                </scan>
                <range>
                    <min>0</min>
                    <max>6.45</max>
                    <resolution>0.0254</resolution>
                </range>
            </ray>
            <plugin name="sonar_${name}_plugin" filename="libgazebo_ros_range.so">
                <gaussianNoise>0.05</gaussianNoise>
                <alwaysOn>true</alwaysOn>
                <updateRate>20</updateRate>
                <topicName>sonar/${name}</topicName>
                <frameName>sonar_${name}_link</frameName>
                <minRange>0.1524</minRange>
                <maxRange>6.45</maxRange>
            </plugin>
        </sensor>

I get the problem that when the robot is moving fastly in the direction of the sonar, I get measurements corresponding to detecting the own collision mesh of the robot (even if the sensor is outside of the collision mesh). Using the Hokuyo simulation I get the same problem (at the end, they both are ray sensors.

Does anybody know how to overcome this problem?