I feel like I don't understand the laser_retro parameter of a collision object (http://sdformat.org/spec?ver=1.6&elem=collision#collision_laser_retro).
I don't see any impact of changing the laser_retro parameter. The scan output is the same and also the visualization looks the same to me. What exactly is the use of this parameter? I was hoping, that I could decide wheter a collision reflects a ray of a laser scan or not (to make some collisions invisible for the sensor).
I created the following sdf to play around with the laser_retro using ray and gpu_ray sensor.
<?xml version="1.0" ?>
<sdf version="1.6">
<world name="my_world">
<model name="sensor">
<link name="sensor_link">
<gravity>0</gravity>
<pose>0 0 0.1 </pose>
<visual name="sensor_visual">
<geometry>
<box>
<size>0.05 0.05 0.05</size>
</box>
</geometry>
</visual>
<sensor type="gpu_ray" name="my_sensor">
<visualize>1</visualize>
<ray>
<scan>
<horizontal>
<resolution>1</resolution>
<min_angle>0</min_angle>
<max_angle>3</max_angle>
</horizontal>
</scan>
<range>
<min>0.10</min>
<max>5.0</max>
</range>
</ray>
</sensor>
</link>
</model>
<model name="obstacle_box">
<link name="obstacle_link">
<gravity>0</gravity>
<pose> 2 2 0.1 </pose>
<visual name="obstacle_visual">
<geometry>
<box>
<size>0.5 0.5 0.5</size>
</box>
</geometry>
</visual>
<collision name="obstacle_collision">
<geometry>
<box>
<size>0.2 0.2 0.2</size>
</box>
</geometry>
<laser_retro>0</laser_retro>
</collision>
</link>
</model>
</world>
</sdf>
Using gazebo 9.13 Thanks!
