These elements are specific to the ray (laser) sensor. The number of simulated rays to generate per complete laser sweep cycle. This number is multiplied by samples to determine the number of range data points returned. If resolution is less than one, range data is interpolated. If resolution is greater than one, range data is averaged. Must be greater or equal to min_angle The number of simulated rays to generate per complete laser sweep cycle. This number is multiplied by samples to determine the number of range data points returned. If resolution is less than one, range data is interpolated. If resolution is greater than one, range data is averaged. Must be greater or equal to min_angle specifies range properties of each simulated ray The minimum distance for each ray. The maximum distance for each ray. Linear resolution of each ray.