Laserscanner look through objects

edit

Hi,

i have also a problem with the laser scanner (lib_gazebo_ros_gpu_ray) under gazebo7, which I need for my simulation. Unlike gazebo5 the laser scanner under gazebo6 and 7 looks through the objects in the simulation.

sdf file of the world:

    <?xml version="1.0"?>
    <sdf version="1.6">
      <world name="default">

    <!-- the ground plane -->
      <model name="ground_plane">
        <static>true</static>
        <link name="link">
          <collision name="collision">        
            <geometry>
              <plane>
                <normal>0 0 1</normal>
                <size>1000 1000</size>
          </plane>
        </geometry>
        <surface>
          <friction>
            <ode>
              <mu>100</mu>
              <mu2>50</mu2>
            </ode>
          </friction>
        </surface>
      </collision>
      <visual name="visual">
        <geometry>
          <empty></empty>
        </geometry>
        <plugin name="GroundPlugin" filename="libGroundPlugin.so">  //Create the ground visual in the plugin
      <MapFolder>example</MapFolder>
        </plugin>
      </visual>
    </link>
  </model>


<!-- the sky -->
    <scene>
       <background>0.5 0.8 1.0 1.0</background>
       <sky></sky>
    </scene>    

<!-- the sun -->
    <include>
      <uri>model://sun</uri>
    </include>  

  </world>
</sdf>

I add the robot separately in the world. The importent part sensor part for the robot:

  <!-- hokuyo -->
  <gazebo reference="laser">
    <sensor type="gpu_ray" name="head_hokuyo_sensor">
      <pose>0 0 0 0 0 0</pose>
      <visualize>true</visualize>
      <update_rate>40</update_rate>
      <ray>
        <scan>
          <horizontal>
            <samples>1000</samples>
            <resolution>1</resolution>
            <min_angle>-0.7854</min_angle>
            <max_angle>0.7854</max_angle>
          </horizontal>
        </scan>
        <range>
          <min>0.01</min>
          <max>10.0</max>
          <resolution>0.1</resolution>
        </range>
        <noise>
          <type>gaussian</type>
          <!-- Noise parameters based on published spec for Hokuyo laser
               achieving "+-30mm" accuracy at range < 10m.  A mean of 0.0m and
               stddev of 0.01m will put 99.7% of samples within 0.03m of the true
               reading. -->
          <mean>0.0</mean>
          <stddev>0.01</stddev>
        </noise>
      </ray>
      <plugin name="gazebo_ros_laser" filename="libgazebo_ros_gpu_laser.so">
        <topicName>scan</topicName>
        <frameName>laser</frameName>
      </plugin>
    </sensor>
  </gazebo>

Has someone a solution for this problem?

thank you.

edit: I think that I will wait for the fix (in a few weeks).