How can simulation multi-layer(vertical) using gpu_ray sensor?
I would like to simulate the Velodyne Laser.
Velodyne sensor vertically and horizontally in a number of Ray information has to be obtained. So, I try to implement as Ray Sensor Plugin, but is very slow.
So, I replace it with a Gpu Ray sensor parameter setting the vertical ranges does not operate. It operates only when set to 1, the Vertical ranges. Is this a bug? All Gpu Ray sensor test code Vertical ranges equals 1.
The following questions look conclusions should be implemented by rotating the Horizontal Laser sensor. http://answers.gazebosim.org/question/5067/how-to-simulate-a-velodyne-sensor/
It does not occur under Issue seems. https://bitbucket.org/osrf/gazebo/issues/946/gpu-ray-sensor-vertical-ranges
Are there any ideas?
Asked by mysna on 2015-11-18 00:07:43 UTC
Answers
This was an old issue with vertical rays and the gpu_ray plugin: https://bitbucket.org/osrf/gazebo/issues/946/gpu-ray-sensor-vertical-ranges
There is a fix now for the gpu_ray plugin by Jacob Seibert which has been merged to Gazebo 7.14 (and newer Versions): https://bitbucket.org/osrf/gazebo/pull-requests/2955/fix-gpuraysensor-vertical-rays/diff
If you are working with ROS there is also an ROS velodyne_simulator package using the gpu_ray: http://wiki.ros.org/velodyne_simulator
There has been a fix to the ROS velodyne_simulator package aswell because of the vertical gpu_ray issue: https://bitbucket.org/DataspeedInc/velodyne_simulator/pull-requests/6/add-gpu-powered-version-of-velodyne-sensor/diff
Asked by stereoline on 2018-10-30 07:49:49 UTC
Comments
I have the same problem. Has the gpu_ray sensor code been checked for 2D arrays of rays?
Asked by sebudge on 2017-03-29 22:16:43 UTC
Here is another question facing the same problem: http://answers.gazebosim.org/question/15727/has-anyone-fixed-the-gpu_ray-vertical-ranges-problem/
Asked by stereoline on 2018-10-30 08:28:37 UTC