Environment: NVidia GTX 760, Ubuntu.
The issue can be reproduced following the tutorial in http://gazebosim.org/tutorials?cat=guided_i&tut=guided_i1
The bean resulting from the following code snippet results in a darker blue area in the sensor bean. The issue seems to be only visual, but I cannot asure it doesn't have other side effects.
<ray> <!-- The scan element contains the horizontal and vertical beams. We are leaving out the vertical beams for this tutorial. --> <scan> <!-- The horizontal beams --> <horizontal> <!-- The velodyne has 32 beams(samples) --> <samples>32</samples> <!-- Resolution is multiplied by samples to determine number of simulated beams vs interpolated beams. See: http://sdformat.org/spec?ver=1.6&elem=sensor#horizontal_resolution --> <resolution>1</resolution> <!-- Minimum angle in radians --> <min_angle>-0.53529248</min_angle> <!-- Maximum angle in radians --> <max_angle>0.18622663</max_angle> </horizontal> </scan> <!-- Range defines characteristics of an individual beam --> <range> <!-- Minimum distance of the beam --> <min>0.05</min> <!-- Maximum distance of the beam --> <max>70</max> <!-- Linear resolution of the beam --> <resolution>0.02</resolution> </range> </ray>