# Revision history [back]

I actually found the issue. I had copied/pasted the definition for the ray sensor, and had not paid attention to the fact that the min_angle/max_angle vlaues for the scan element were in degrees, and not radians. After changing these values, and providing a proper pose to identify where the beam originates its link, and everything started working perfectly.

Here's what my sensor definition looks like now:

<gazebo reference="sensor_fl_range_1">
<material>Gazebo/Red</material>
<selfCollide>0</selfCollide>
<sensor type="ray" name="sensor_fl_range_1">
<pose>0.0025 0 0 0 0 0</pose>
<visualize>true</visualize>
<update_rate>10</update_rate>
<ray>
<scan>
<horizontal>
<samples>10</samples>
<resolution>1</resolution>
<min_angle>-0.174533</min_angle>
<max_angle>0.174533</max_angle>
</horizontal>
<vertical>
<samples>10</samples>
<resolution>1</resolution>
<min_angle>-0.174533</min_angle>
<max_angle>0.174533</max_angle>
</vertical>
</scan>
<range>
<min>0.05</min>
<max>2.0</max>
<resolution>0.05</resolution>
</range>
</ray>
<plugin filename="libgazebo_ros_range.so" name="gazebo_ros_range">
<topicName>proximity/frontleft</topicName>
<frameName>sensor_fl_range_1</frameName>
<gaussianNoise>0.000</gaussianNoise>
<alwaysOn>true</alwaysOn>.
<updateRate>10</updateRate>