Fortress: Light gizmo (visual) is rendered in lidar

[peci1]

Environment

• OS Version: Ubuntu 20.04
• Source or binary build? Binary 6.16
• If this is a GUI or sensor rendering bug, describe your GPU and rendering system. Otherwise delete this section.
  • Rendering plugin: ogre, ogre2 (both affected)
    • [x] Sensor rendering error.
    • [ ] GUI rendering error.
  • EGL headless mode:
    • [ ] Running in EGL headless mode
  • Generally, mention all circumstances that might affect rendering capabilities:
    • [ ] running on a dual GPU machine (integrated GPU + discrete GPU)
    • [ ] running on a multi-GPU machine (it has multiple discrete GPUs)
    • [x] running on real hardware
    • [ ] running in virtual machine
    • [ ] running in Docker/Singularity
    • [ ] running remotely (e.g. via SSH)
    • [ ] running in a cloud
    • [ ] using VirtualGL, XVFB, Xdummy, XVNC or other indirect rendering utilities
    • [x] GPU is concurrently used for other tasks
      • [x] desktop acceleration
      • [ ] video decoding (i.e. a playing Youtube video)
      • [ ] video encoding
      • [ ] CUDA/ROCm computations (Tensorflow, Torch, Caffe running)
      • [ ] multiple simulators running at the same time
    • [ ] other...
  • Rendering system info:
    • On Linux, provide the outputs of the following commands:

$ LANG=C lspci -nn | grep VGA  # might require installing pciutils
06:00.0 VGA compatible controller [0300]: Advanced Micro Devices, Inc. [AMD/ATI] Renoir [1002:1636] (rev d1)
$           echo "$DISPLAY"
:0
$           LANG=C glxinfo -B | grep -i '\(direct rendering\|opengl\|profile\)'  # might require installing mesa-utils package
direct rendering: Yes
    Preferred profile: core (0x1)
    Max core profile version: 4.6
    Max compat profile version: 4.6
    Max GLES1 profile version: 1.1
    Max GLES[23] profile version: 3.2
OpenGL vendor string: AMD
OpenGL renderer string: AMD Radeon Graphics (radeonsi, renoir, LLVM 15.0.7, DRM 3.57, 6.7.5-060705-generic)
OpenGL core profile version string: 4.6 (Core Profile) Mesa 24.0.1 - kisak-mesa PPA
OpenGL core profile shading language version string: 4.60
OpenGL core profile context flags: (none)
OpenGL core profile profile mask: core profile
OpenGL version string: 4.6 (Compatibility Profile) Mesa 24.0.1 - kisak-mesa PPA
OpenGL shading language version string: 4.60
OpenGL context flags: (none)
OpenGL profile mask: compatibility profile
OpenGL ES profile version string: OpenGL ES 3.2 Mesa 24.0.1 - kisak-mesa PPA
OpenGL ES profile shading language version string: OpenGL ES GLSL ES 3.20
$           ps aux | grep Xorg
peci1       4438  1.0  0.3 1602564 99212 tty2    Sl+  úno22  73:58 /usr/lib/xorg/Xorg vt2 -displayfd 3 -auth /run/user/1000/gdm/Xauthority -background none -noreset -keeptty -verbose 3
peci1     670952  0.0  0.0  11600  2544 pts/5    S+   17:08   0:00 grep --color=auto Xorg
$           sudo env LANG=C X -version  # if you don't have root access, try to tell the version of Xorg e.g. via package manager
X.Org X Server 1.20.13
X Protocol Version 11, Revision 0
Build Operating System: linux Ubuntu
Current Operating System: Linux cras-17 6.7.5-060705-generic #202402161836 SMP PREEMPT_DYNAMIC Fri Feb 16 19:10:40 UTC 2024 x86_64
Kernel command line: BOOT_IMAGE=/boot/vmlinuz-6.7.5-060705-generic root=UUID=c8df4187-97f0-4be7-b095-39958ee965df ro quiet splash vt.handoff=7
Build Date: 29 January 2024  12:44:21PM
xorg-server 2:1.20.13-1ubuntu1~20.04.15 (For technical support please see http://www.ubuntu.com/support) 
Current version of pixman: 0.38.4
	Before reporting problems, check http://wiki.x.org
	to make sure that you have the latest version.

• [ ] Please, attach the ogre.log or ogre2.log file from ~/.gz/rendering

Description

• Expected behavior: Light gizmos are not visible in lidar.
• Actual behavior: A light with <visualize>true</visualize> causes the gizmo to be captured by gpu lidar.

Steps to reproduce

1. Add a light to the simulation and a GPU lidar.
2. Watch the lidar points.
3. Turn off the light gizmo using Component inspector.
4. The gizmo disappears from the lidar points.

MWE:

<sdf version='1.9'>
  <world name='example'>
    <physics name='4ms' type='dart'>
      <max_step_size>0.0040000000000000001</max_step_size>
      <real_time_factor>1</real_time_factor>
      <real_time_update_rate>1000</real_time_update_rate>
    </physics>
    <scene>
      <ambient>0.2 0.2 0.2 1</ambient>
      <background>0.8 0.8 0.8 1</background>
      <shadows>true</shadows>
    </scene>
    <gravity>0 0 -9.8</gravity>
    <magnetic_field>6e-06 2.3e-05 -4.2e-05</magnetic_field>
    <atmosphere type='adiabatic'/>

    <plugin filename="ignition-gazebo-sensors-system" name="ignition::gazebo::systems::Sensors">
      <render_engine>ogre2</render_engine>
    </plugin>
    <plugin filename="ignition-gazebo-physics-system" name="ignition::gazebo::systems::Physics"/>
    <plugin filename="ignition-gazebo-user-commands-system" name="ignition::gazebo::systems::UserCommands"/>
    <plugin filename="ignition-gazebo-scene-broadcaster-system" name="ignition::gazebo::systems::SceneBroadcaster"/>

    <include><uri>https://fuel.gazebosim.org/1.0/OpenRobotics/models/Ground Plane</uri></include>

    <model name='X1'>
      <link name='top_box'>
        <inertial>
          <mass>2</mass>
          <inertia>
            <ixx>0.01755</ixx>
            <iyy>0.0070666699999999997</iyy>
            <izz>0.013816699999999999</izz>
          </inertia>
          <pose>0 0 0 0 -0 0</pose>
        </inertial>
        <collision name='top_box_collision'>
          <geometry>
            <box>
              <size>0.1 0.11 0.18</size>
            </box>
          </geometry>
        </collision>
        <visual name='top_box_visual'>
          <geometry>
            <box>
              <size>0.1 0.11 0.18</size>
            </box>
          </geometry>
        </visual>
        <light name='light_up' type='spot'>
          <pose>0 -0.07 0.045 3.14159 -0 3.14159</pose>
          <cast_shadows>false</cast_shadows>
          <intensity>1</intensity>
          <direction>0 0 -1</direction>
          <diffuse>0.8 0.8 0.5 1</diffuse>
          <specular>0.8 0.8 0.5 1</specular>
          <visualize>true</visualize>
          <attenuation>
            <range>60</range>
            <linear>0</linear>
            <constant>0.10000000000000001</constant>
            <quadratic>0.0025000000000000001</quadratic>
          </attenuation>
          <spot>
            <inner_angle>1.0471999999999999</inner_angle>
            <outer_angle>1.5708</outer_angle>
            <falloff>1</falloff>
          </spot>
        </light>
      </link>
      <link name='laser'>
        <pose>0 0 0.12 0 -0 0</pose>
        <inertial>
          <mass>0.5</mass>
          <inertia>
            <ixx>0.00046162500000000001</ixx>
            <iyy>0.00046162500000000001</iyy>
            <izz>0.00047306300000000002</izz>
          </inertia>
        </inertial>
        <collision name='laser_collision'>
          <geometry>
            <cylinder>
              <length>0.073499999999999996</length>
              <radius>0.043499999999999997</radius>
            </cylinder>
          </geometry>
        </collision>
        <visual name='laser_visual'>
          <geometry>
            <cylinder>
              <length>0.073499999999999996</length>
              <radius>0.043499999999999997</radius>
            </cylinder>
          </geometry>
        </visual>
        <sensor name='laser' type='gpu_lidar'>
          <update_rate>10</update_rate>
          <lidar>
            <scan>
              <horizontal>
                <samples>1024</samples>
                <resolution>1</resolution>
                <min_angle>-3.1459000000000001</min_angle>
                <max_angle>3.1459000000000001</max_angle>
              </horizontal>
              <vertical>
                <samples>128</samples>
                <min_angle>-0.78539800000000004</min_angle>
                <max_angle>0.78539800000000004</max_angle>
                <resolution>1</resolution>
              </vertical>
            </scan>
            <range>
              <min>0.10000000000000001</min>
              <max>50</max>
              <resolution>0.01</resolution>
            </range>
            <noise>
              <type>gaussian</type>
              <mean>0</mean>
              <stddev>0.01</stddev>
            </noise>
          </lidar>
        </sensor>
      </link>
      <joint name='laser_j' type='fixed'>
        <child>laser</child>
        <parent>top_box</parent>
        <axis>
          <xyz>0 0 1</xyz>
        </axis>
      </joint>
      <pose>-0 -0 0.1145 0 0 -0</pose>
      <static>false</static>
      <self_collide>false</self_collide>
    </model>
  </world>
</sdf>

To reproduce, run rosrun ros_ign_bridge parameter_bridge '/world/example/model/X1/link/laser/sensor/laser/scan/points@sensor_msgs/PointCloud2[ignition.msgs.PointCloudPacked' and open up rviz with rviz -f X1/laser/laser and add the PointCloud2 topic.

Output