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How can simulation multi-layer(vertical) using gpu_ray sensor?

asked 2015-11-17 23:07:43 -0600

mysna gravatar image

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.

It does not occur under Issue seems.

Are there any ideas?

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I have the same problem. Has the gpu_ray sensor code been checked for 2D arrays of rays?

sebudge gravatar imagesebudge ( 2017-03-29 22:16:43 -0600 )edit
stereoline gravatar imagestereoline ( 2018-10-30 08:28:37 -0600 )edit

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answered 2018-10-30 08:28:23 -0600

stereoline gravatar image

This was an old issue with vertical rays and the gpu_ray plugin:

There is a fix now for the gpu_ray plugin by Jacob Seibert which has been merged to Gazebo 7.14 (and newer Versions):

If you are working with ROS there is also an ROS velodyne_simulator package using the gpu_ray:

There has been a fix to the ROS velodyne_simulator package aswell because of the vertical gpu_ray issue:

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I can ensure you the problem persists to this day. The problem was not solved and is still an issue in last version of Gazebo.

In fact I am using Gazebo 7.16 where is supposed to be fixed and the problems is still there.

Weasfas gravatar imageWeasfas ( 2019-11-15 06:30:10 -0600 )edit
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Asked: 2015-11-17 23:07:43 -0600

Seen: 2,043 times

Last updated: Oct 30 '18