Cannot get segmented data from ray sensor in Gazebo 9

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Hi,

I am trying to get segmented data given different objects reflections in Gazebo 9, but the points from the laser data I obtain are not segmented (visualizing in Rviz Ros Melodic). However, I can get segmented data using Gazebo 7. Can someone help me determine what is wrong?

In my example.world file I have the

<laser_retro>0.1</laser_retro>

tag within the collision and visual tags. This is the same thing I do in gazebo 7. Please help!