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Hi Joep, I think I found what happens to your range ray. The configuration is correct but it is very likely that due to the way that you have created your robot, the range is colliding against itself. Either it is colliding against the collision mesh of the sensor itself or either against the body of the robot. I cannot say which one because you did not publish the whole URDF.

Anyway, I created a video about how to detect that. Check it out here: https://youtu.be/Qq4Xsl-n3nM

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