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Laser scan ray goes through walls when using heightmaps

Hi,

I am trying to use heightmaps for random map generation that I plan to use for testing the Navigation 2 stack.

I am able to generate heightmaps, but I am having a problem when using a laser sensor. The laser scan rays go through the model. You can see the problem in the images as well.

I have attached the model files (heightmap model and the turtlebot 3 robot model) that can be used to reproduce this issue. I was wondering if this is a Gazebo bug or I set some parameters wrong in my .sdf file.

(In the images, I increased the laser scan range to show the problem)

view from top

image description

view from bottom

image description

Test system:

  • Ubuntu 18.04.03
  • Gazebo 9.11.0
  • Grayscale image resolution: 513x513

Thanks, Melih

PS: A similar issue is mentioned here http://answers.gazebosim.org/question/20267/problem-with-laser-sensor-and-heigthmap/