Expected behaviour
In simulation, the lidar rays should not go through obstacles and if there is no obstacle the lidar ray should not stop until the max distance.
Actual behaviour
When the lite model is spawned in the Maze world, a section of the lidar rays do not respond to the obstacles in the world. Instead they go through some obstacles and shows an odd shape even when there is no obstacle. This section turns with the robot and interferes with any attempt at SLAM. This occured before and after my modifications to the maze world. The following images are as I turned the robot on the spot:
It also occurs with the standard model if you modify the urdf to remove components.
Please provide the following information:
Robot Model: Lite
Expected behaviour In simulation, the lidar rays should not go through obstacles and if there is no obstacle the lidar ray should not stop until the max distance.
Actual behaviour When the lite model is spawned in the Maze world, a section of the lidar rays do not respond to the obstacles in the world. Instead they go through some obstacles and shows an odd shape even when there is no obstacle. This section turns with the robot and interferes with any attempt at SLAM. This occured before and after my modifications to the maze world. The following images are as I turned the robot on the spot:
It also occurs with the standard model if you modify the urdf to remove components.
To Reproduce Provide the steps to reproduce:
Troubleshooting Steps So Far
Other notes I don't currently have time to look into this, sharing this information here for now.