Hi there, I am trying to make really simplified simulation of fog/smoke/gas propagation just to allow robot to detect if gas is present or not. And here is my question:

Is there any way to make object invisible for laser and still be able to detect collision between this object and static model of the environment (prevent it from floating through the wall)?

Maybe you know some attempts to simulate gas in gazebo or have a clue how it could be working?

Thanks in advance for any clues.