GPU laser beams look through the ground plane

[xubaolai]

Hi,

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:

‌

[Kevin Hallenbeck]

The GPU sensor in Gazebo has some known issues. The problem is with Gazebo itself, and not this ROS driver. I recommend just using CPU.
https://bitbucket.org/DataspeedInc/velodyne_simulator/src/master/img/gpu.png
https://bitbucket.org/DataspeedInc/velodyne_simulator/src/foxy-devel/img/gpu.png

[Kevin Hallenbeck]

Also, ROS Kinetic and Ubuntu 16.04 are past end-of-life and no-longer supported

[xubaolai]

@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.