diff --git a/simulator/dummy_perception_publisher/src/node.cpp b/simulator/dummy_perception_publisher/src/node.cpp
index 3104369549a8a..7bdae277cb091 100644
--- a/simulator/dummy_perception_publisher/src/node.cpp
+++ b/simulator/dummy_perception_publisher/src/node.cpp
@@ -183,7 +183,9 @@ void DummyPerceptionPublisherNode::timerCallback()
       new pcl::PointCloud<pcl::PointXYZ>);
     pcl::VoxelGridOcclusionEstimation<pcl::PointXYZ> ray_tracing_filter;
     ray_tracing_filter.setInputCloud(merged_pointcloud_ptr);
-    ray_tracing_filter.setLeafSize(0.25, 0.25, 0.25);
+    // above this value raytrace won't be as expected
+    const double leaf_size = 0.02;
+    ray_tracing_filter.setLeafSize(leaf_size, leaf_size, leaf_size);
     ray_tracing_filter.initializeVoxelGrid();
     for (size_t i = 0; i < v_pointcloud.size(); ++i) {
       pcl::PointCloud<pcl::PointXYZ>::Ptr ray_traced_pointcloud_ptr(