Increase kinect range in turtlebot simulator [closed]

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Hi there,

I need to increase the range of the kinect for my turtlebot in simulation. I don't know what to modify: in gazebo.urdf.xacro - the package turtlebot/description (please see below) - the range is set to 10.0m so I guess there is a thresholding somewhere else.

Does anybody know where I should look for?

Thanks,

Maurizio

<xacro:macro name="turtlebot_sim_laser">
  <gazebo reference="laser">
    <sensor:ray name="laser">
      <rayCount>180</rayCount>
      <rangeCount>180</rangeCount>
      <laserCount>1</laserCount>

      <origin>0.0 0.0 0.0</origin>
      <displayRays>false</displayRays>

      <minAngle>-130</minAngle>
      <maxAngle>130</maxAngle>

      <minRange>0.08</minRange>
      <maxRange>10.0</maxRange>
      <resRange>0.01</resRange>
      <updateRate>20</updateRate>
      <controller:gazebo_ros_laser name="gazebo_ros_laser_controller" plugin="libgazebo_ros_laser.so">
    <gaussianNoise>0.005</gaussianNoise>
    <alwaysOn>true</alwaysOn>
    <updateRate>20</updateRate>
    <topicName>scan</topicName>
    <frameName>laser</frameName>
    <interface:laser name="gazebo_ros_laser_iface" />
      </controller:gazebo_ros_laser>
    </sensor:ray>
  </gazebo>
</xacro:macro>