I am creating a simulation which consists of a car using gpulasers. To filter different object types I want to label them with an unique value. To accomplish this I'm using the laserretro tag, to create different intensities for the point clouds. The problem I'm facing now is that the actors sdf-file doesn't contain a visual tag. Is there a way to circumvent this problem and implement laser_retro also for actors?

Different kinds of actors should also be able to have an unique laser_retro value to distinguish them.