Lidar visibility

[Mathosmls]

Hi,

The waves are visible by the lidar and I am not able to fix it.

I tried the solution #111 and #167 but none of them worked.

The waves :

true 0 30 fft 256 256 1.5 135 2.

<link name="base_link">
  <visual name="visual">
    <laser_retro>0.0000000000001</laser_retro>
    <geometry>
      <mesh>
        <uri>materials/mesh_L256m_N256.dae</uri>
      </mesh>
    </geometry>
    <!-- 
      Uncomment material if using DYNAMIC_GEOMETRY which uses PBS
      rather than a custom shader
    -->
    <material>
      <ambient>0.0 0.05 0.8 0.92</ambient>
      <diffuse>0.0 0.1 0.7 0.92</diffuse>
      <specular>0.7 0.7 0.7 0.92</specular>
      <pbr>
        <metal>
          <albedo_map>materials/water.jpg</albedo_map>
          <normal_map>materials/wave_normals.dds</normal_map>
          <environment_map>materials/skybox_lowres.dds</environment_map>
          <roughness>0.3</roughness>
          <metalness>0.1</metalness>
        </metal>
      </pbr>
    </material>

    <!-- \todo remove duplicate params; populate from service instead -->
    <plugin
        filename="gz-waves1-waves-visual-system"
        name="gz::sim::systems::WavesVisual">
     ....

    </plugin>
    <visibility_flags>8</visibility_flags>
  </visual>
</link>

My lidar :

<link name="base_link">
  <inertial>
    <mass>0.1</mass>
  </inertial>


  <visual name="visual">
    <geometry>
      <mesh>
        <uri>models://lidar_os1-64/meshes/visual.dae</uri>
      </mesh>
    </geometry>
  </visual>



  <sensor name="lidar_sensor" type="gpu_ray">
    <pose>0 0 0 0 0 0</pose>
    <update_rate>10</update_rate>
    <visualize>true</visualize>
    <lidar>
      <scan>
        <horizontal>
          <samples>1024</samples>
          <resolution>1</resolution>
          <min_angle>-3.14159</min_angle>
          <max_angle>3.14159</max_angle>
        </horizontal>
        <vertical>
          <samples>64</samples>
          <resolution>1</resolution>
          <min_angle>-0.393</min_angle> <!-- -45°/2 en rad -->
          <max_angle>0.393</max_angle>  <!-- 45°/2 en rad -->
        </vertical>
      </scan>
      <range>
        <min>0.05</min>
        <max>120</max>
        <resolution>0.001</resolution>
      </range>
      <noise>
        <type>gaussian</type>
        <mean>0.0</mean>
        <stddev>0.0</stddev>
      </noise>
      <visibility_mask>55</visibility_mask>
    </lidar>
  </sensor>
</link>

The result :

The visibility_flags tag seems to have no effects.
I'm on gazebo Harmonic and I don't have a gpu