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How can simulation multi-layer(vertical) using gpu_ray sensor?

I would like to simulate the Velodyne Laser.

Velodyne sensor vertically and horizontally in a number of Ray information has to be obtained. So, I try to implement as Ray Sensor Plugin, but is very slow.

So, I replace it with a Gpu Ray sensor parameter setting the vertical ranges does not operate. It operates only when set to 1, the Vertical ranges. Is this a bug? All Gpu Ray sensor test code Vertical ranges equals 1.

The following questions look conclusions should be implemented by rotating the Horizontal Laser sensor.

It does not occur under Issue seems.

Are there any ideas?