magni_robot
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Gazebo sonar config aways detects the ground at 1m away
The sonar detection cones collide with the ground at roughly 1m away from the sensor due to magni's low height. I suggest either tilting the sensors upwards by a few degrees, making the cones flatter or narrower in all directions.
Furthermore the sonar max distance is set to 3.2m instead of 4m as is the spec for HC-SR04.
I'll make a pull request with the fix if this isn't intended behaviour.