Hi, John, thanks for your reply. I post my world file and sicklms200 laser model below. I only put one cylinder there for test. In the laser model, the tab <displayRays>, no matter i put fan, false or lines values, the laser beams still can pass through the objects. Actually, even the example world file coming with gazebo 0.10.0, like pioneer2dx.world, the laser beams can also pass through the object. So i dont think it is the world file problem. And I further test the new laser model (gazebo 0.10.0) in my old version gazebo (0.8pre3), and the laser beems work fine. Thanks.
world file: <?xml version="1.0"?> <gazebo:world xmlns:xi="http://www.w3.org/2001/XInclude"; xmlns:gazebo="http://playerstage.sourceforge.net/gazebo/xmlschema/#gz"; xmlns:model="http://playerstage.sourceforge.net/gazebo/xmlschema/#model"; xmlns:sensor="http://playerstage.sourceforge.net/gazebo/xmlschema/#sensor"; xmlns:window="http://playerstage.sourceforge.net/gazebo/xmlschema/#window"; xmlns:param="http://playerstage.sourceforge.net/gazebo/xmlschema/#param"; xmlns:body="http://playerstage.sourceforge.net/gazebo/xmlschema/#body"; xmlns:geom="http://playerstage.sourceforge.net/gazebo/xmlschema/#geom"; xmlns:joint="http://playerstage.sourceforge.net/gazebo/xmlschema/#joint"; xmlns:interface="http://playerstage.sourceforge.net/gazebo/xmlschema/#interface"; xmlns:ui="http://playerstage.sourceforge.net/gazebo/xmlschema/#ui"; xmlns:rendering="http://playerstage.sourceforge.net/gazebo/xmlschema/#rendering"; xmlns:controller="http://playerstage.sourceforge.net/gazebo/xmlschema/#controller"; xmlns:physics="http://playerstage.sourceforge.net/gazebo/xmlschema/#physics"; > <verbosity>5</verbosity> <physics:ode> <stepTime>0.03</stepTime> <gravity>0 0 -9.8</gravity> <cfm>10e-5</cfm> <erp>0.3</erp> <updateRate>0</updateRate> </physics:ode> <rendering:gui> <type>fltk</type> <size>800 600</size> <pos>0 0</pos> <xyz>0 0 0</xyz> <rpy>0 0 0</rpy> <updateRate>20</updateRate> <frames> <row height="100%"> <camera width="100%"> <xyz>0.35 -0.5 0.43</xyz> <rpy>0 14 111.5</rpy> </camera> </row> </frames> </rendering:gui> <rendering:ogre> <ambient>0.5 0.5 0.5 1.0</ambient> <sky> <material>Gazebo/CloudySky</material> </sky> <fog> <color>1.0 1.0 1.0</color> <linearStart>10</linearStart> <linearEnd>100</linearEnd> </fog> </rendering:ogre> <!-- Ground Plane --> <model:physical name="plane1_model"> <xyz>0 0 0</xyz> <rpy>0 0 0</rpy> <static>true</static> <body:plane name="plane1_body"> <geom:plane name="plane1_geom"> <normal>0 0 1</normal> <size>2000 2000</size> <segments>10 10</segments> <uvTile>100 100</uvTile> <material>Gazebo/Grey</material> </geom:plane> </body:plane> </model:physical> <model:physical name="cylinder1_model"> <xyz>3.15 1.68 .3</xyz> <rpy>0.0 0.0 0.0</rpy> <static>true</static> <body:cylinder name="cylinder1_body"> <geom:cylinder name="cylinder1_geom"> <size>0.5 1</size> <mass>1.0</mass> <visual> <scale>0.5 0.5 0.5</scale> <mesh>unit_cylinder</mesh> <material>Gazebo/Color</material> </visual> </geom:cylinder> </body:cylinder> </model:physical> <model:physical name="pioneer2dx_model1"> <xyz>0 0 0.145</xyz> <rpy>0.0 0.0 0.0</rpy> <model:physical name="laser"> <xyz>0.15 0 0.18</xyz> <attach> <parentBody>chassis_body</parentBody> <myBody>laser_body</myBody> </attach> <include embedded="true"> <xi:include href="models/sicklms200.model" /> </include> </model:physical> <include embedded="true"> <xi:include href="models/pioneer2dx.model" /> </include> </model:physical> <!-- White Directional light --> <model:renderable name="directional_white"> <light> <type>directional</type> <direction>0 -0.6 -0.4</direction> <diffuseColor>1.0 1.0 1.0</diffuseColor> <specularColor>0.2 0.2 0.2</specularColor> <range>20</range> <attenuation>1000 1.0 0.0 0</attenuation> </light> </model:renderable> </gazebo:world> part of laser model: <sensor:ray name="laser_1"> <rayCount>180</rayCount> <rangeCount>361</rangeCount> <origin>0.05 0.0 0</origin> <minAngle>-90</minAngle> <maxAngle>90</maxAngle> <minRange>0.1</minRange> <maxRange>8</maxRange> <displayRays>fan</displayRays> <!--<displayRays>lines</displayRays>--> <!--<displayRays>false</displayRays>--> <resRange>1</resRange> <controller:sicklms200_laser name="laser_controller_1"> <interface:laser name="laser_iface_0"/> <interface:fiducial name="fiducial_iface_0"/> </controller:sicklms200_laser> </sensor:ray> Hi, can you post your world file so I can try and reproduce the issue? thanks, John On Jun 19, 2010 7:55 AM, "zhangqun" <[email protected]> wrote: -- View this message in context: http://old.nabble.com/Laser-beams-passing-through-objects-tp28934167p28938580.html Sent from the playerstage-gazebo mailing list archive at Nabble.com. ------------------------------------------------------------------------------ ThinkGeek and WIRED's GeekDad team up for the Ultimate GeekDad Father's Day Giveaway. ONE MASSIVE PRIZE to the lucky parental unit. See the prize list and enter to win: http://p.sf.net/sfu/thinkgeek-promo _______________________________________________ Playerstage-gazebo mailing list [email protected] https://lists.sourceforge.net/lists/listinfo/playerstage-gazebo
