Lidar detects water in ROS humble

[tejalacc]

I switched to ros2. In ros2 , vrx repo, when i run ros2 launch vrx_gz competition.launch.py world:=sydney_regatta and visualize it on rviz , lidar detects sea water also alongwith added buoys. whereas this issue is not their in vrx classic.can you help me this.

[caguero]

Thanks for reporting it. This is a well-known issue and something that we'll need to fix in the future.

[Muscle-king]

I would like to ask, has the problem of returning lidar points from the sea surface not yet been solved?

[caguero]

It hasn't been resolved yet.

[adarsha-s-bharadwaj]

Yes, even I'm facing this same issue.

[JonathanWheare]

Hi everyone,

I ran into this problem as well and have done a little investigation of my own. It appears that the water model is tagged with a visibility filter bit, that means that the object could be filtered by a sensor. Unfortunately, there is no corresponding visibility setting in the lidar sensor.
I added the visibility filter tag to the lidar, and I found the water was filtered successfully. I am putting together a PR submission for this change.

Regards,
Jonathan.