X2 laser scanner data not valid

[osrf-migration]

Original report (archived issue) by Anonymous.

---

Hello,
When running through the RViz tutorial, I am unable to get the laser scanner data from X2 to visualize. Looking at the topic, it appears that the data is invalid.

Launched with:
roslaunch subt_gazebo competition.launch scenario:=tunnel_practice_1
-and-
X2_SENSOR_CONFIG_3=1 roslaunch subt_example team.launch

rostopic echo /X2/front_scan
---
header: 
  seq: 456
  stamp: 
    secs: 559
    nsecs: 366000000
  frame_id: "X2/front_laser"
angle_min: -2.35619997978
angle_max: 2.35619997978
angle_increment: 0.00655410299078
time_increment: 0.0
scan_time: 0.0
range_min: 0.0399999991059
range_max: 20.0
ranges: [-inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf]
intensities: [1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0]
---

[osrf-migration]

Original comment by Nate Koenig (Bitbucket: Nathan Koenig).

---

I assume you are referring to the inf values. These are valid values when there is no obstacle in front of the laser.

Try moving the robot around, or place an object in front of the laser. You should see the message change.

[osrf-migration]

Original comment by Steve Peters (Bitbucket: Steven Peters).

---

I believe the gazebo sensors are following the ROS convention from REP 117, which states that "Detections that are too close to the sensor to quantify shall be represented by -Inf".

• http://www.ros.org/reps/rep-0117.html#specification

Maybe the sensor collision is blocking all the sensor rays. We may need to adjust the min_range parameter.

[osrf-migration]

Original comment by Nate Koenig (Bitbucket: Nathan Koenig).

---

Thanks for the clarification Steve. Negative infinity would indicate that something is too close.

I ran through your example, and here is the data I see:

---
header: 
  seq: 5
  stamp: 
    secs: 18
    nsecs: 718000000
  frame_id: "X2/front_laser"
angle_min: -2.35619997978
angle_max: 2.35619997978
angle_increment: 0.00655410299078
time_increment: 0.0
scan_time: 0.0
range_min: 0.0399999991059
range_max: 20.0
ranges: [inf, inf, inf, inf, 16.276222229003906, 16.176904678344727, 16.067590713500977, 15.971165657043457, 15.887438774108887, 15.783154487609863, 15.696062088012695, 15.595876693725586, 15.516378402709961, 15.422418594360352, 15.35619068145752, 15.259506225585938, 15.189403533935547, 15.089157104492188, 15.008049964904785, 14.942575454711914, 14.870964050292969, 14.788548469543457, 14.722979545593262, 14.64167594909668, 14.567253112792969, 14.505144119262695, 14.44874382019043, 14.37331771850586, 14.303044319152832, 14.241345405578613, 14.185982704162598, 14.126524925231934, 14.064481735229492, 14.017069816589355, 13.961195945739746, 13.87728214263916, 13.951285362243652, 14.109147071838379, 13.724540710449219, 13.678869247436523, 13.618038177490234, 13.582727432250977, 13.511452674865723, 13.464743614196777, 13.424107551574707, 13.397626876831055, 13.329699516296387, 13.295251846313477, 13.245798110961914, 13.20932388305664, 13.147257804870605, 13.102482795715332, 13.075450897216797, 13.02672290802002, 12.985288619995117, 12.926891326904297, 12.901429176330566, 12.864654541015625, 12.84964370727539, 12.795308113098145, 12.76545524597168, 12.732060432434082, 12.71032428741455, 12.661107063293457, 12.637238502502441, 12.598007202148438, 12.581689834594727, 12.540765762329102, 12.537176132202148, 12.486896514892578, 12.46382999420166, 12.402366638183594, 12.403596878051758, 12.374285697937012, 12.351954460144043, 12.32684326171875, 12.290864944458008, 12.258177757263184, 12.246017456054688, 12.231693267822266, 12.211716651916504, 12.185746192932129, 12.182687759399414, 12.527836799621582, inf, 12.14513874053955, 12.078328132629395, 12.070165634155273, 12.051222801208496, 12.040292739868164, 12.035993576049805, 12.006915092468262, 12.002120018005371, 11.980741500854492, 11.965461730957031, 11.971275329589844, 11.935955047607422, 11.925069808959961, 11.905288696289062, 11.924125671386719, 11.894439697265625, 11.890976905822754, 11.873129844665527, 11.869179725646973, 11.853520393371582, 11.862911224365234, 11.847554206848145, 11.850672721862793, 11.8390474319458, 11.828882217407227, 11.820810317993164, 11.808457374572754, 11.800618171691895, 11.801738739013672, 11.808927536010742, 11.800860404968262, 11.796825408935547, 11.801006317138672, 11.792892456054688, 11.795032501220703, 11.800087928771973, 11.796661376953125, 11.800048828125, 11.804879188537598, 11.798378944396973, 11.799723625183105, 11.799917221069336, 11.803566932678223, 11.835598945617676, 11.81291389465332, 11.830732345581055, 11.84827995300293, 11.824729919433594, 11.833074569702148, 11.84168815612793, 11.87014389038086, 11.861870765686035, inf, inf, inf, 11.918336868286133, 11.91401195526123, 11.92404842376709, 11.927427291870117, 11.95864200592041, 11.960884094238281, 11.980635643005371, 11.971687316894531, 12.014973640441895, 12.013656616210938, 12.045099258422852, 12.037649154663086, 12.074996948242188, 12.071297645568848, 12.091774940490723, 12.117596626281738, 12.128151893615723, 12.151957511901855, 12.169925689697266, 12.19642162322998, 12.204480171203613, 12.253829002380371, 12.265666961669922, 12.303210258483887, 12.333849906921387, 12.350549697875977, 12.350873947143555, 12.397480010986328, 12.4047269821167, 12.450053215026855, 12.462263107299805, 12.476273536682129, 12.538251876831055, 12.535736083984375, 12.586381912231445, 12.616010665893555, 12.636066436767578, 12.672399520874023, 12.711756706237793, 12.739110946655273, 12.779064178466797, 12.800310134887695, 12.843652725219727, 12.887079238891602, 12.918351173400879, 12.953352928161621, 13.016369819641113, 13.024232864379883, inf, 13.417757034301758, 13.184057235717773, 13.21170425415039, 13.250503540039062, 13.279828071594238, 13.344152450561523, 13.38962173461914, 13.420228004455566, 13.485995292663574, 13.514381408691406, 13.5979642868042, 13.644203186035156, 13.695213317871094, 13.743274688720703, 13.798870086669922, 13.827276229858398, 13.909930229187012, 13.982995986938477, 14.044231414794922, 14.094910621643066, 14.158363342285156, 14.209999084472656, 14.279913902282715, 14.355358123779297, 14.380461692810059, 14.443496704101562, 14.517159461975098, 14.606438636779785, 14.675647735595703, 14.751976013183594, 14.846006393432617, 14.897869110107422, 14.976940155029297, 15.029160499572754, 15.122625350952148, 15.202441215515137, 15.298054695129395, 15.378653526306152, inf, inf, inf, 15.413223266601562, 15.26214599609375, 15.166037559509277, 15.053641319274902, 14.95881175994873, 14.848702430725098, 14.769805908203125, 14.630385398864746, 14.548589706420898, 14.466407775878906, 14.36862564086914, 14.240346908569336, 14.163076400756836, 14.086724281311035, 14.023306846618652, 13.90126895904541, 13.856595039367676, 13.719353675842285, 13.67659854888916, 13.593038558959961, 13.50887393951416, 13.440559387207031, 13.360673904418945, 13.281795501708984, 13.229736328125, 13.148584365844727, 13.076587677001953, 12.987051963806152, 12.951935768127441, 12.884105682373047, 12.786857604980469, 12.74393367767334, 12.719871520996094, 12.847463607788086, 12.91716194152832, inf, inf, inf, inf, inf, inf, inf, inf, inf, 13.11803150177002, 12.955643653869629, 12.824084281921387, 12.647027969360352, 12.515007019042969, 12.36579704284668, 12.228753089904785, 12.113960266113281, 11.983221054077148, 11.859431266784668, 11.7365140914917, 11.631621360778809, 11.492338180541992, 11.352363586425781, 11.218056678771973, 11.108219146728516, 11.022382736206055, 10.91433048248291, 10.780311584472656, 10.677757263183594, 10.562984466552734, 10.17477798461914, 10.182843208312988, 10.160545349121094, 10.148965835571289, 10.140925407409668, 10.091523170471191, 10.07192611694336, 10.064275741577148, 10.007858276367188, 10.005038261413574, 9.945892333984375, 9.93505573272705, 9.936583518981934, 9.904376983642578, 9.890734672546387, 10.064312934875488, 10.26242733001709, 11.76240062713623, 12.602988243103027, 12.818645477294922, 12.719341278076172, 12.903329849243164, 13.788337707519531, 14.036633491516113, 14.003077507019043, 14.151864051818848, 14.998558044433594, 15.201910018920898, 15.198829650878906, 15.949250221252441, 16.255584716796875, 16.412946701049805, 16.410099029541016, 17.265239715576172, 17.5213680267334, 17.587326049804688, 17.705379486083984, 18.529945373535156, 18.776643753051758, 18.774900436401367, 18.90117073059082, 19.694820404052734, 19.965145111083984, 19.944955825805664, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, 19.771963119506836, 19.767967224121094, 19.70364761352539, 18.664146423339844, 18.556251525878906, 18.50739860534668, 17.341699600219727, 17.323665618896484, 17.093006134033203, 16.077484130859375, 16.08723258972168, 14.847790718078613, 14.850510597229004, 13.619956016540527, 9.50413703918457, 9.43132495880127, 9.4308500289917, 9.43924331665039, 9.444557189941406, 9.465356826782227, 9.466930389404297, 9.47627067565918, 9.473753929138184, 9.49119758605957, 9.500670433044434, 9.528706550598145, 9.538179397583008, 9.556660652160645, 9.557536125183105, 9.545683860778809, 9.548402786254883, 9.830755233764648, 9.92372989654541, 9.99709415435791, 10.052251815795898, 10.137900352478027, 10.190035820007324, 10.251091003417969, 10.343804359436035, 10.42947006225586, 10.495935440063477, 10.568316459655762, 10.653003692626953, 10.751260757446289, 10.811331748962402, 10.90010929107666, 10.969313621520996, 11.065728187561035, 11.151646614074707, 11.219315528869629, 11.325013160705566, 11.419970512390137, 11.493485450744629, 11.57973861694336, 11.702924728393555, 11.806009292602539, 11.8535737991333, 11.95810317993164, 12.093058586120605, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, 11.863929748535156, 11.785348892211914, 11.635129928588867, 11.639376640319824, 11.693474769592285, 11.725339889526367, 11.797322273254395, 11.809297561645508, 11.874095916748047, 11.934591293334961, 11.9570894241333, 12.002883911132812, 12.080473899841309, 12.098769187927246, 12.16948127746582, 12.206843376159668, 12.270397186279297, 12.313847541809082, 12.37574291229248, 12.441650390625, 12.477831840515137, 12.551292419433594, 12.610260963439941, 12.688023567199707, 12.758050918579102, 12.792831420898438, 12.857234954833984, 12.946003913879395, 13.015436172485352, 13.059107780456543, 13.160252571105957, 13.19998550415039, 13.31849479675293, 13.371554374694824, 13.45196533203125, 13.50861644744873, 13.601991653442383, 13.663786888122559, 13.74050235748291, 13.826114654541016, 13.916251182556152, inf, inf, inf, inf, 13.867185592651367, 13.797567367553711, 13.716402053833008, 13.632302284240723, 13.53710651397705, 13.446064949035645, 13.37873649597168, 13.277056694030762, 13.205005645751953, 13.145142555236816, 13.045797348022461, 12.981491088867188, 12.906936645507812, 12.834836959838867, 12.768258094787598, 12.70726490020752, 12.640249252319336, 12.587973594665527, 12.497140884399414, 12.4366455078125, 12.367846488952637, 12.295924186706543, 12.241189956665039, 12.197669982910156, 12.120024681091309, 12.06356143951416, 12.021356582641602, 11.974916458129883, 11.909366607666016, 11.85292911529541, 11.824153900146484, 11.741340637207031, 11.700526237487793, 11.651748657226562, 11.596531867980957, 11.553384780883789, 11.504305839538574, 11.469038009643555, 11.423866271972656, 11.515737533569336, 11.666488647460938, 11.302372932434082, 11.23568058013916, 11.223684310913086, 11.163328170776367, 11.12470531463623, 11.078231811523438, 11.051626205444336, 11.001885414123535, 10.983111381530762, 10.932830810546875, 10.90058422088623, 10.872117042541504, 10.82856273651123, 10.791175842285156, 10.779938697814941, 10.732111930847168, 10.7058687210083, 10.676980972290039, 10.653496742248535, 10.62452220916748, 10.578079223632812, 10.550827026367188, 10.538755416870117, 10.513671875, 10.47600269317627, 10.463033676147461, 10.440328598022461, 10.418854713439941, 10.377754211425781, 10.3544340133667, 10.346437454223633, 10.316511154174805, 10.29440975189209, 10.261367797851562, 10.241387367248535, 10.241447448730469, 10.207954406738281, 10.187581062316895, 10.17931079864502, 10.14928913116455, 10.149032592773438, 10.112954139709473, 10.094172477722168, 10.073863983154297, 10.05443000793457, 10.052382469177246, 10.020893096923828, 10.029067993164062, 10.016674041748047, 9.99657154083252, 9.9984769821167, 9.963794708251953, 9.95440673828125, 9.951303482055664, 9.92976188659668, 9.926894187927246, 10.255226135253906, inf, inf, 9.90184497833252, 9.868054389953613, 9.879645347595215, 9.881832122802734, 9.856668472290039, 9.84267520904541, 9.854837417602539, 9.828173637390137, 9.839864730834961, 9.819780349731445, 9.816234588623047, 9.818503379821777, 9.835176467895508, 9.821171760559082, 9.787227630615234, 9.795486450195312, 9.792303085327148, 9.808563232421875, 9.805532455444336, 9.814371109008789, 9.78613567352295, 9.804829597473145, 9.802111625671387, 9.801996231079102, 9.787101745605469, 9.798460960388184, 9.808244705200195, 9.825763702392578, 9.813765525817871, 9.822604179382324, 9.821460723876953, 9.816807746887207, 9.836947441101074, 9.82900333404541, 9.843274116516113, 9.862665176391602, 9.836584091186523, 9.864654541015625, 9.884016990661621, 9.877452850341797, 9.882445335388184, 9.88988208770752, 9.888935089111328, 9.915244102478027, 9.927839279174805, 9.950528144836426, 9.946277618408203, 9.961644172668457, 9.98197078704834, 9.98261833190918, 9.986957550048828, 10.000166893005371, 10.008682250976562, 10.020576477050781, 10.036979675292969, 10.052021980285645, 10.080862998962402, 10.100873947143555, 10.094403266906738, 10.136513710021973, 10.13992691040039, 10.149243354797363, inf, inf, 10.578836441040039, 10.294404983520508, 10.274251937866211, 10.277755737304688, 10.297017097473145, 10.326904296875, 10.347844123840332, 10.381677627563477, 10.383281707763672, 10.428104400634766, 10.457427024841309, 10.470866203308105, 10.498865127563477, 10.519390106201172, 10.53068733215332, 10.571049690246582, 10.599130630493164, 10.653525352478027, 10.663997650146484, 10.685171127319336, 10.72957706451416, 10.738037109375, 10.78238296508789, 10.821501731872559, 10.855948448181152, 10.891298294067383, 10.92190933227539, 10.957927703857422, 11.021223068237305, 11.032343864440918, 11.068127632141113, 11.100241661071777, 11.16680908203125, 11.194653511047363, 11.220827102661133, 11.27510929107666, 11.32448673248291, 11.349492073059082, 11.395337104797363, 11.443744659423828, 11.496509552001953, 11.53756046295166, 11.587973594665527, 11.642980575561523, 11.679043769836426, 11.703110694885254, 11.75477123260498, 11.84699821472168, 11.890271186828613, 11.952530860900879, 11.995018005371094, 12.05570125579834, 12.41406536102295, 12.283573150634766, 12.261962890625, 12.285141944885254, 12.350854873657227, 12.424652099609375, 12.467040061950684, 12.543601036071777, 12.600923538208008, 12.670994758605957, 12.752504348754883, 12.803884506225586, 12.895346641540527, 12.965100288391113, 13.044822692871094, 13.124669075012207, 13.181888580322266, 13.264593124389648, 13.346923828125, 13.431099891662598, 13.518728256225586, 13.592328071594238, 13.686605453491211, 13.777570724487305, 13.783845901489258]
intensities: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
---

Can you include a screenshot of Gazebo so that we can see what your environment and robot configuration look like?

[osrf-migration]

Original comment by Nate Koenig (Bitbucket: Nathan Koenig).

---

• changed priority from "major" to "minor"

[osrf-migration]

Original comment by Nate Koenig (Bitbucket: Nathan Koenig).

---

Issue #21 was marked as a duplicate of this issue.

[osrf-migration]

Original comment by Nate Koenig (Bitbucket: Nathan Koenig).

---

We are unable to reproduce this issue. Make sure that you have followed the installation instructions correctly: https://osrf-migration.github.io/subt-gh-pages/#!/osrf/subt/wiki/tutorials.

[osrf-migration]

Original comment by dinesh lama (Bitbucket: roboticsai).

---

above is the screen shot, i also put some obstacles in front of the robot, but still i only see the -inf range values. I also tried the rrbot laser scan from [this](Link URL)http://gazebosim.org/tutorials?tut=ros_gzplugins tutorial and i get the same result. is using dedicated nvidia gpu neccesary to run this simulation? cas i'm not using dedicated graphics card currentely as written in system requirment page, all other system requirment are matching.

[osrf-migration]

Original comment by Nate Koenig (Bitbucket: Nathan Koenig).

---

You can try changing gpu_ray to ray` on this line. This will cause the the ray sensor to be CPU based instead of GPU based.

Can you also post the command you are running to launch simulation? And do have the latest code?

[osrf-migration]

Original comment by Nate Koenig (Bitbucket: Nathan Koenig).

---

I tried this on a laptop that does not have a dedicated GPU, and see the same result as you. Do you have access to a machine that has a GPU?

[osrf-migration]

Original comment by dineshlama (Bitbucket: dineshlama).

---

o.. ok thanks. now i got it. and as described in the system requirment page, is using gpu neccesary to run subt simulation with multiple robots with laser scanner? cas right now my system don't have dedicated gpu like described in system requirment page.
i am using the same command as described in the rviz tutorials to launch the simulation.
i sometime pull the latest codes from the repository, by using hg pull command than build it.

[osrf-migration]

Original comment by Nate Koenig (Bitbucket: Nathan Koenig).

---

Yes, a machine equipped with a GPU is required for SubT. GPU equipped machines will be used during the competition as well.

[osrf-migration]

Original comment by Nate Koenig (Bitbucket: Nathan Koenig).

---

• changed state from "new" to "resolved"

A GPU is required by SubT.

[osrf-migration]

Original comment by dineshlama (Bitbucket: dineshlama).

---

What is the drawback of having no GPU? after i changed gpu_ray with ray sensor the laser scan is coming properly, and i could also run the SubT environment properly in my PCwith decent performance. Isn't it ok if i use this PC for the final event also? Because i have to buy a new laptop with required GPU if it in necessary.

[osrf-migration]

Original comment by Nate Koenig (Bitbucket: Nathan Koenig).

---

You won't be able to use your PC for the final event. All circuit events will be run in the cloud.
We are using GPUs because they can scale to larger teams of robots in larger environments than solely a CPU based approach.

[osrf-migration]

Original comment by Alfredo Bencomo (Bitbucket: bencomo).

---

• changed state from "resolved" to "closed"