catkin_ws/src/learn-ros1/mobile_manipulator_robot_description/urdf/gazebo.urdf.xacro

	<gazebo reference="front_lidar">
        <!-- GPU Version-->
        <!-- <sensor type="gpu_ray" name="front_laser_sensor"> -->
        <!-- non GPU Version-->
        <sensor type="ray" name="front_laser_sensor">
            <pose>0 0 0 0 0 0</pose>
            <visualize>true</visualize>
            <update_rate>15</update_rate>
            <ray>
                <scan>
                    <horizontal>
                        <samples>540</samples>
                        <resolution>1</resolution>
                        <min_angle>-2.35619449</min_angle>
                        <max_angle>2.35619449</max_angle>
                    </horizontal>
                </scan>
                <range>
                    <min>0.10</min>
                    <max>10.0</max>
                    <resolution>0.01</resolution>
                </range>
                <noise>
                    <type>gaussian</type>
                    <mean>0.0</mean>
                    <stddev>0.01</stddev>
                </noise>
            </ray>
            <!-- GPU Version-->
            <!-- <plugin name="gazebo_ros_front_lidar_controller" filename="libgazebo_ros_gpu_laser.so"> -->
            <!-- non GPU Version-->
            <plugin name="gazebo_ros_front_lidar_controller" filename="libgazebo_ros_laser.so">
                <topicName>front_scan</topicName>
                <frameName>front_lidar</frameName>
            </plugin>
        </sensor>
    </gazebo>

Rear Laser에 대해서도 같은 방법으로 수정 필요.

gpu_ray를 Intel GPU에선 지원하지 않으므로, ros_laser를 사용함.