GPU laser beams look through the ground plane

Issue #29 resolved
xubaolai created an issue


I attached the plugin to my robot and got point cloud with gpu acceleration successfully. But I found that there were some beams look through the ground plane(x-y plane in rviz). However, the point cloud is normal (above the ground) when I use the cpu plugin .

My ros version is Kinetic on Ubuntu 16.04, and gazebo 9.18.0.

Gazebo world:

GPU plugin(the yellow line is the grid plane from side view):

CPU plugin:

Comments (4)

  1. xubaolai reporter

    @Kevin Hallenbeck Thank you for your reply! I used the CPU plugin, but my robot can not move in the world because of the high CPU.

  2. Log in to comment