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What is the different between SDF's gpu_ray sensor and ray sensor?

I see on sdformat.org sensor specs that there is two kind of LiDAR like sensor simulation that is gpu_ray and ray. It seem that both produce same information but is there any practical different between them?

Asked by AchmadFathoni on 2018-05-29 10:12:24 UTC

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At least I know that only ray sensor work on my Gazebo and able produce reading.

Asked by AchmadFathoni on 2018-05-29 15:45:17 UTC

Answers

GPU ray sensors run in the rendering, so they are usually more efficient and detect visual shapes.

Ray sensors run in the physics, so they're less efficient and detect collision shapes.

Asked by chapulina on 2018-05-29 15:49:31 UTC

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Thank you for the clarification but could you please point out how I can obtain this information from the documentation or source code? Also, with GPU ray plugin, why can't I simulate more 8 sensors when the scanning angle is 240 degrees or more than 16 sensors when the scanning angle is 160 degrees? I tested these on different computers (one has Nvidia GTX940 other one has GTX1080) but the result is the same. I cant simulate laser sensors with GPU ray plugin more than those numbers.

Asked by asaglam on 2020-03-26 15:32:43 UTC