diff --git a/ogre2/src/Ogre2GpuRays.cc b/ogre2/src/Ogre2GpuRays.cc
index d63a0531c..c68bead3c 100644
--- a/ogre2/src/Ogre2GpuRays.cc
+++ b/ogre2/src/Ogre2GpuRays.cc
@@ -172,6 +172,9 @@ class ignition::rendering::Ogre2GpuRaysPrivate
   /// \brief Listener for setting particle noise value based on particle
   /// emitter region
   public: std::unique_ptr<Ogre2ParticleNoiseListener> particleNoiseListener[6];
+
+  /// \brief Min allowed angle in radians;
+  public: const math::Angle kMinAllowedAngle = 1e-4;
 };
 
 using namespace ignition;
@@ -455,6 +458,7 @@ void Ogre2GpuRays::ConfigureCamera()
 {
   // horizontal gpu rays setup
   auto hfovAngle = this->AngleMax() - this->AngleMin();
+  hfovAngle = std::max(this->dataPtr->kMinAllowedAngle, hfovAngle);
   this->SetHFOV(hfovAngle);
 
   // vertical laser setup
@@ -462,7 +466,8 @@ void Ogre2GpuRays::ConfigureCamera()
 
   if (this->VerticalRangeCount() > 1)
   {
-    vfovAngle = (this->VerticalAngleMax() - this->VerticalAngleMin()).Radian();
+    vfovAngle = std::max(this->dataPtr->kMinAllowedAngle.Radian(),
+        (this->VerticalAngleMax() - this->VerticalAngleMin()).Radian());
   }
   else
   {
@@ -547,11 +552,16 @@ void Ogre2GpuRays::CreateSampleTexture()
   double max = this->AngleMax().Radian();
   double vmin = this->VerticalAngleMin().Radian();
   double vmax = this->VerticalAngleMax().Radian();
-  double hStep = (max-min) / static_cast<double>(this->dataPtr->w2nd-1);
+
+  double hAngle = std::max(this->dataPtr->kMinAllowedAngle.Radian(), max - min);
+  double vAngle = std::max(this->dataPtr->kMinAllowedAngle.Radian(),
+      vmax - vmin);
+
+  double hStep = hAngle / static_cast<double>(this->dataPtr->w2nd-1);
   double vStep = 1.0;
   // non-planar case
   if (this->dataPtr->h2nd > 1)
-    vStep = (vmax-vmin) / static_cast<double>(this->dataPtr->h2nd-1);
+    vStep = vAngle / static_cast<double>(this->dataPtr->h2nd-1);
 
   // create an RGB texture (cubeUVTex) to pack info that tells the shaders how
   // to sample from the cubemap textures.
diff --git a/test/integration/gpu_rays.cc b/test/integration/gpu_rays.cc
index 0db85ec79..44eb54ed3 100644
--- a/test/integration/gpu_rays.cc
+++ b/test/integration/gpu_rays.cc
@@ -64,6 +64,9 @@ class GpuRaysTest: public testing::Test,
 
   // Test detection of particles
   public: void RaysParticles(const std::string &_renderEngine);
+
+  // Test single ray box intersection
+  public: void SingleRay(const std::string &_renderEngine);
 };
 
 /////////////////////////////////////////////////
@@ -150,7 +153,7 @@ void GpuRaysTest::Configure(const std::string &_renderEngine)
 void GpuRaysTest::RaysUnitBox(const std::string &_renderEngine)
 {
 #ifdef __APPLE__
-  std::cerr << "Skipping test for apple, see issue #35." << std::endl;
+  ignerr << "Skipping test for apple, see issue #35." << std::endl;
   return;
 #endif
 
@@ -335,7 +338,7 @@ void GpuRaysTest::RaysUnitBox(const std::string &_renderEngine)
 void GpuRaysTest::LaserVertical(const std::string &_renderEngine)
 {
 #ifdef __APPLE__
-  std::cerr << "Skipping test for apple, see issue #35." << std::endl;
+  ignerr << "Skipping test for apple, see issue #35." << std::endl;
   return;
 #endif
 
@@ -468,7 +471,7 @@ void GpuRaysTest::LaserVertical(const std::string &_renderEngine)
 void GpuRaysTest::RaysParticles(const std::string &_renderEngine)
 {
 #ifdef __APPLE__
-  std::cerr << "Skipping test for apple, see issue #35." << std::endl;
+  ignerr << "Skipping test for apple, see issue #35." << std::endl;
   return;
 #endif
 
@@ -677,6 +680,104 @@ void GpuRaysTest::RaysParticles(const std::string &_renderEngine)
   engine->DestroyScene(scene);
   rendering::unloadEngine(engine->Name());
 }
+
+/////////////////////////////////////////////////
+/// \brief Test single ray box intersection
+void GpuRaysTest::SingleRay(const std::string &_renderEngine)
+{
+#ifdef __APPLE__
+  ignerr << "Skipping test for apple, see issue #35." << std::endl;
+  return;
+#endif
+
+  if (_renderEngine == "optix")
+  {
+    igndbg << "GpuRays not supported yet in rendering engine: "
+            << _renderEngine << std::endl;
+    return;
+  }
+
+  // Test GPU single ray box intersection.
+  // Place GPU above box looking downwards
+  // ray should intersect with center of box
+
+  const double hMinAngle = 0.0;
+  const double hMaxAngle = 0.0;
+  const double minRange = 0.05;
+  const double maxRange = 40.0;
+  const int hRayCount = 1;
+  const int vRayCount = 1;
+
+  // create and populate scene
+  RenderEngine *engine = rendering::engine(_renderEngine);
+  if (!engine)
+  {
+    igndbg << "Engine '" << _renderEngine
+              << "' is not supported" << std::endl;
+    return;
+  }
+
+  ScenePtr scene = engine->CreateScene("scene");
+  ASSERT_TRUE(scene != nullptr);
+
+  VisualPtr root = scene->RootVisual();
+
+  // Create first ray caster
+  ignition::math::Pose3d testPose(ignition::math::Vector3d(0, 0, 7),
+      ignition::math::Quaterniond(0, IGN_PI/2.0, 0));
+
+  GpuRaysPtr gpuRays = scene->CreateGpuRays("gpu_rays");
+  gpuRays->SetWorldPosition(testPose.Pos());
+  gpuRays->SetWorldRotation(testPose.Rot());
+  gpuRays->SetNearClipPlane(minRange);
+  gpuRays->SetFarClipPlane(maxRange);
+  gpuRays->SetAngleMin(hMinAngle);
+  gpuRays->SetAngleMax(hMaxAngle);
+  gpuRays->SetRayCount(hRayCount);
+
+  gpuRays->SetVerticalRayCount(vRayCount);
+  root->AddChild(gpuRays);
+
+  // box in the center
+  ignition::math::Pose3d box01Pose(ignition::math::Vector3d(0, 0, 4.5),
+                                   ignition::math::Quaterniond::Identity);
+  VisualPtr visualBox1 = scene->CreateVisual("UnitBox1");
+  visualBox1->AddGeometry(scene->CreateBox());
+  visualBox1->SetWorldPosition(box01Pose.Pos());
+  visualBox1->SetWorldRotation(box01Pose.Rot());
+  root->AddChild(visualBox1);
+
+  // Verify rays caster range readings
+  // listen to new gpu rays frames
+  unsigned int channels = gpuRays->Channels();
+  float *scan = new float[hRayCount * vRayCount * channels];
+  common::ConnectionPtr c =
+    gpuRays->ConnectNewGpuRaysFrame(
+        std::bind(&::OnNewGpuRaysFrame, scan,
+          std::placeholders::_1, std::placeholders::_2, std::placeholders::_3,
+          std::placeholders::_4, std::placeholders::_5));
+
+  gpuRays->Update();
+
+  int mid = 0;
+  double unitBoxSize = 1.0;
+  double expectedRangeAtMidPointBox = testPose.Pos().Z() -
+      (abs(box01Pose.Pos().Z()) + unitBoxSize/2);
+
+  // rays caster 1 should see box01 and box02
+  EXPECT_NEAR(scan[mid], expectedRangeAtMidPointBox, LASER_TOL);
+
+  c.reset();
+
+  delete [] scan;
+
+  scan = nullptr;
+
+  // Clean up
+  engine->DestroyScene(scene);
+  rendering::unloadEngine(engine->Name());
+}
+
 /////////////////////////////////////////////////
 TEST_P(GpuRaysTest, Configure)
 {
@@ -701,6 +802,13 @@ TEST_P(GpuRaysTest, RaysParticles)
   RaysParticles(GetParam());
 }
 
+/////////////////////////////////////////////////
+TEST_P(GpuRaysTest, SingleRay)
+{
+  SingleRay(GetParam());
+}
+
+
 INSTANTIATE_TEST_CASE_P(GpuRays, GpuRaysTest,
     RENDER_ENGINE_VALUES,
     ignition::rendering::PrintToStringParam());