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Naive object recognition based on laser sensor

Hello, I want to use the RaySensor plugin to get the id of the nearest object each ray intersect (instead of the range). I saw the GetFiducial() function, but don't know if it provides this information, could anybody tell me?.

If not, I've seen that the RayShape class has a GetIntersection() function, which I think that returns the information I need. But it would be grand not to have to build a new RaySensor based of RayShape.

Before I discovered this Gazebo forum I posed this same question in the ros answers forum:

link text

, but I think that it fix better here, that's why I'm repetting it.

Thanks in advance!