Inaccurate Laser scan from the Hokuyo sensor Gazebo

edit

Hi all,

I have been working on setting up the simulation environment in Gazebo and I have a simple mobile base with the hokuyo sensor on top of it. The laser scan coming out of it seems inaccurate.
I know I am doing some thing silly but I am not able to figure it out. I have attached the necessary code for the Hokuyo sensor. Please let me know if you need anything else from my side.

drsim.xacro

<!-- Hokuyo Laser -->
    <link name="base_laser_link">
        <collision>
            <origin xyz="0 0 0" rpy="0 0 0"/>
            <geometry>
                <box size="0.1 0.1 0.1"/>
            </geometry>
        </collision>

        <visual>
            <origin xyz="0 0 0" rpy="0 0 0"/>
            <geometry>
                <mesh filename="package://drsim_control/meshes/hokuyo.dae"/>
            </geometry>
        </visual>

        <inertial>
            <mass value="1e-5" />
            <origin xyz="0 0 0" rpy="0 0 0"/>
            <inertia ixx="1e-6" ixy="0" ixz="0" iyy="1e-6" iyz="0" izz="1e-6" />
        </inertial>
    </link>

drsim.gazebo

 <!-- hokuyo -->
    <gazebo reference="base_laser_link">
        <sensor type="gpu_ray" name="head_hokuyo_sensor">
            <pose>0 0 0 0 0 0</pose>
            <visualize>true</visualize>
            <update_rate>40</update_rate>
            <ray>
                <scan>
                    <horizontal>
                        <samples>720</samples>
                        <resolution>1</resolution>
                        <min_angle>-1.570796</min_angle>
                        <max_angle>1.570796</max_angle>
                    </horizontal>
                    <vertical>
                        <samples>1</samples>
                        <resolution>1</resolution>
                        <min_angle>0</min_angle>
                        <max_angle>0</max_angle>
                    </vertical>
                </scan>
                <range>
                    <min>0.10</min>
                    <max>30.0</max>
                    <resolution>0.01</resolution>
                </range>
                <noise>
                <type>gaussian</type>
                    <mean>0.0</mean>
                    <stddev>0.01</stddev>
                </noise>
          </ray>

          <plugin name="gazebo_ros_head_hokuyo_controller" filename="libgazebo_ros_gpu_laser.so">
            <topicName>/base_scan</topicName>
            <frameName>base_laser_link</frameName>
          </plugin>

        </sensor>
    </gazebo>

Update: I have attached the image after View->Collisions

Update 2: It turns out that even if I have only the sensor (no mobile robot), I get the same inaccurate laser scan. So, I think the type of sensor is wrong because when I change the type of sensor to "ray" from "gpuray" and plugin to libRayPlugin.so from libgazeborosgpulaser.so, I get the accurate laser scan as shown:

But I cant use the new plugin if I want to interface gazebo with ros and get the laser scan data on a ros topic (For example /base_scan). Does anyone have any insights into this?

Any help will be appreciated.
Thanks!
Naman