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

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

mysna
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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...

It does not occur under Issue seems. https://bitbucket.org/osrf/gazebo/iss...

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 ( 2017-03-29 22:16:43 -0600 )edit

Here is another question facing the same problem: http://answers.gazebosim.org/question/15727/has-anyone-fixed-the-gpu_ray-vertical-ranges-problem/

stereoline ( 2018-10-30 08:28:37 -0600 )edit

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

stereoline
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This was an old issue with vertical rays and the gpu_ray plugin: https://bitbucket.org/osrf/gazebo/iss...

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/pul...

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/ve...

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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 ( 2019-11-15 06:30:10 -0600 )edit

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

Seen: 2,608 times

Last updated: Oct 30 '18

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