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What means laserRetro in Gazebo

asked 2012-03-26 05:08:10 -0500

ZdenekM gravatar image

Hi all!

I'm not able to find documentation for parameter "laserRetro" of Gazebo world file. I saw this parameter in some file, but I'm not sure what exactly it means.

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answered 2012-04-07 08:39:20 -0500

hsu gravatar image

In electric, a <laserRetro> element can be declared under gazebo's <geom:xxx> element, and was used to set the LaserScan intensities field when a simulated ray hits a surface. As pointed out by PKG, this is not correct, but an extreme simplification. This feature should be improved in Fuerte with the upcoming GPU version of laser range scanners currently being constructed.

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answered 2012-04-03 12:31:21 -0500

PKG gravatar image

This may be a slightly inaccurate answer. From this PlayerStage page it's clear that retro Laser refers to the reflectiveness of the surface in question. From Wikipedia it's clear that a RetroReflector reflects light back with minimum scattering, much like reflectors on roads.

Summing up, I feel that laser retro measures the extent to which the material reflects laser light with minimal scattering. The notion of laser retro reflectiveness also makes sense , e.g. see here.

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Thanks for answer...

ZdenekM gravatar image ZdenekM  ( 2012-04-03 21:26:32 -0500 )edit

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Asked: 2012-03-26 05:08:10 -0500

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Last updated: Apr 07 '12