# Revision history [back]

### How to set visualize-tag

Hi, I am currently writing my own ROS-laser-plugin because I want to have a multi-ray-laser that doesn't have multiple lines of horizontal rays but the rays should be arbitrary (for example an 8-figure).

I created a RayShapePtr using the following code-snippet:

// Create ray
gazebo::physics::RayShapePtr ray1 = boost::dynamic_pointer_cast<gazebo::physics::RayShape>(this->collision_ptr_->GetShape());
// Set start- and end-point to ray
ray1->SetPoints(start, end1);
// Add created ray to list
this->rays_.push_back(ray1);
...
// later on I get the intersection with the ray using the following code-snippet:
this->rays_[i]->GetIntersection(dist, entityName);


However, for debugging purposes I would like to visualize this ray in Gazebo just like the normal ray-plugin in Gazebo when I use the following tag in the urdf/sdf:

<visualize>true</visualize>


It seems that when I created the ray1 in the code above it doesn't get visualized like the rays I specified in the urdf/sdf using the following configuration:

<gazebo reference="my_laser_frame">
<pose>0 0 0 0 0 0</pose>
<visualize>true</visualize>
<update_rate>5</update_rate>
<ray>
<scan>
<horizontal>
<samples>16</samples>
<resolution>1</resolution>
<min_angle>0.6</min_angle>
<max_angle>-0.6</max_angle>
</horizontal>
</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_my_laser_controller" filename="lib_my_laser_plugin.so">
<visualize>true</visualize>
<robotNamespace>my_robot</robotNamespace>
<frameName>my_laser_frame</frameName>
<topicName>laser_topic</topicName>
<updateRate>10</updateRate>
</plugin>
</sensor>
</gazebo>


In short: The rays defined in the urdf are visualized in Gazebo but not my own programatically created RayShape (e.g. ray1) in the plugin-code. Does anyone have any idea how I can also visualize the programatically created RayShape in Gazebo?