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Ray plugin (PointCloud2) using gpu

Hello everyone!

I am using Gazebo 8 for simulation different environments using custom models. I want to know is there any existing plugin that uses gpu for generating pointcloud2 in the simulation. As currently I am using gazebo's own plugin to get pointcloud2, it is really killing my CPU when I subscribe to it using cartographer or nav_stack, RTF drops to 0.2 with single sensor and I intend to use 2. So if is there anything out there I would really appreciate the help. Thanks