Fix single ray gpu lidar

[iche033]

Signed-off-by: Ian Chen ichen@osrfoundation.org

🦟 Bug fix

Fixes osrf/subt#1001

Summary

Single ray gpu lidar are often created by setting <min_angle> == <max_angle> in sdf. Here's is an example taken from one of the robots from subt:

                <lidar>
                    <scan>
                        <horizontal>
                            <samples>1</samples>
                            <resolution>1</resolution>
                            <min_angle>3.141592654</min_angle>
                            <max_angle>3.141592654</max_angle>
                        </horizontal>
                    </scan>
                    <range>
                        <min>0.05</min>
                        <max>40</max>
                        <resolution>0.01</resolution>
                    </range>
                </lidar>

This generates a a lidar with 0 horizontal FOV. It sort of works but the range values produced has high precision error. The fix is to set a min allowed angle in the 1st pass when sampling depth data.

Checklist

• Signed all commits for DCO
• Added tests
• Updated documentation (as needed)
• Updated migration guide (as needed)
• codecheck passed (See contributing)
• All tests passed (See test coverage)
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[codecov]

Codecov Report

Merging #384 (3b46775) into ign-rendering4 (622a7ba) will increase coverage by 0.01%.
The diff coverage is 100.00%.

❗ Current head 3b46775 differs from pull request most recent head bd16bee. Consider uploading reports for the commit bd16bee to get more accurate results

@@                Coverage Diff                 @@
##           ign-rendering4     #384      +/-   ##
==================================================
+ Coverage           55.88%   55.90%   +0.01%     
==================================================
  Files                 147      147              
  Lines               13976    13981       +5     
==================================================
+ Hits                 7811     7816       +5     
  Misses               6165     6165              

Impacted Files	Coverage Δ
ogre2/src/Ogre2GpuRays.cc	94.99% <100.00%> (+0.04%)	⬆️

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[mjcarroll]

LGTM with Green CI