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

asked 2018-05-29 10:12:24 -0500

AchmadFathoni gravatar image

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?

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

AchmadFathoni gravatar imageAchmadFathoni ( 2018-05-29 15:45:17 -0500 )edit

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answered 2018-05-29 15:49:31 -0500

chapulina gravatar image

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.

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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.

asaglam gravatar imageasaglam ( 2020-03-26 15:32:43 -0500 )edit
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Asked: 2018-05-29 10:12:24 -0500

Seen: 733 times

Last updated: May 29 '18