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GPU laser sensor reflects transparent glass material

asked 2017-01-26 06:16:16 -0500

bustun gravatar image

updated 2020-05-25 05:18:22 -0500

kumpakri gravatar image

Hello, I want to simulate a glass wall in Gazebo and see that the laser scanner can't detect it. In my model I tried to give different laser_retro and transparency settings. In Rviz I always see that the transparent wall reflects the laser scans. Can anybody shed some light on this ?


I use Gazebo version 7.4 ROS Kinetic on Ubuntu 16.04

Below is the wall that is supposed not to reflect laser scans.

  <model name="glass1">
    <pose>7 2 1 0 0 0</pose>
    <link name="link">
      <collision name="visual">
         <geometry><box><size>0.1 2 2</size></box></geometry>
      <visual name="visual1">
         <geometry><box><size>0.1 2 2</size></box></geometry>

Here is the laser plugin definition:

<gazebo reference="hokuyo_link">
<sensor type="gpu_ray" name="hokuyo">
 <pose>0 0 0 0 0 0</pose>
       <min>0.10</min> <max>30.0</max>
 <plugin name="gpu_laser" filename="">
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Can you post the version of gazebo you are using, the models you are simulating, the version of ROS, and any relevant code?

nkoenig gravatar imagenkoenig ( 2017-01-26 09:37:36 -0500 )edit

1 Answer

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answered 2018-09-06 09:46:38 -0500

wentz gravatar image

updated 2018-09-06 09:48:48 -0500

So basically the gpu laser will only detect a link's visual. One solution to your problem would be to simply delete the

<visual name="visual1">

in your sdf. But you would not be able to see the object in the simulation. Another possibility is to delete the

<collision name="visual">

Element in your sdf and use the non gpu version of the sensor. This sensor will only detect a link's collision and you will be still able to see the object in the simulation. To do this you also need to change the sensor type:

<sensor type="ray" name="hokuyo">

and the plugin:

<plugin name="gazebo_ros_head_hokuyo_controller" filename="">
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Asked: 2017-01-26 06:16:16 -0500

Seen: 3,085 times

Last updated: May 25 '20