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I agree it's a problem of the gazebo plugin. I added some sort of fix in https://github.com/pal-robotics-forks/gazebo_ros_pkgs/pull/2 Sorry for not mentioning before.

@jorge I want to use the whole point cloud, not just a laser slice of it. Anyway, I think with depthimage_to_laserscan I might have a the +Inf (or at least, IMHO, it should provide them).

I'm finally integrating everything in https://github.com/ros-planning/navigation/pull/265 (still to be merged).

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