Robotics StackExchange | Archived questions

Discrepancy of ray_sensor and gpu_ray sensor - horizontal ray scan

Hi,

I have the following sensor description (code snippet!) in my robot description:

  <sensor name="my_laser_sensor" type="ray">
     <ray>
        <scan>
          <horizontal>
            <samples>640</samples>
            <resolution>1</resolution>
            <min_angle>0</min_angle>
            <max_angle>0</max_angle>
          </horizontal>
        </scan>
     </ray>
 </sensor>

This sensor works, I get 1 laser beam. Now I need to use a gpuray sensor instead of the raysensor, looking at http://sdformat.org/spec?ver=1.6&elem=sensor#horizontal_samples I am using the default parameters for the ray scan. But when I try to change the type to gpu I get the following error:

EXCEPTION: Camera horizontal field of view invalid.

Even when I remove the horizontal code block, to use the default values by default the error remains.

Why is there a difference between the sensor definitions? How is it possible to simulate a single laser beam with the gpu_sensor?

Thanks!

Using gazebo 9.13

Asked by relffok on 2020-04-16 18:06:46 UTC

Comments

Did you resolve this?

Asked by Vitor AMJ on 2020-07-14 16:22:05 UTC

Unfortunately I didn't!

Asked by relffok on 2020-08-22 05:18:32 UTC

Answers