[Foxy] adding fix for 360 inclusive bound lidars (#296)

* adding fix for 360 inclusive bound lidars

* adding std::round

* Update laser_utils.cpp

* Update laser_utils.cpp

src/laser_utils.cpp

@@ -106,10 +106,17 @@ karto::LaserRangeFinder * LaserAssistant::makeLaser(const double & mountingYaw)
   laser->SetAngularResolution(scan_.angle_increment);
 
   bool is_360_lidar = false;
-  if (std::fabs(scan_.angle_max - scan_.angle_min - 2.0 * M_PI) < (scan_.angle_increment - (std::numeric_limits<float>::epsilon() * 2.0f*M_PI))) {
+  const float angular_range = std::fabs(scan_.angle_max - scan_.angle_min);
+  if (std::fabs(angular_range - 2.0 * M_PI) < (scan_.angle_increment - (std::numeric_limits<float>::epsilon() * 2.0f*M_PI))) {
     is_360_lidar = true;
   }
 
+  // Check if we have a 360 laser, but incorrectly setup as to produce
+  // measurements in range [0, 360] rather than appropriately as [0, 360)
+  if (angular_range > 6.10865 /*350 deg*/ && std::round(angular_range / scan_.angle_increment) + 1 == scan_.ranges.size()) {
+    is_360_lidar = false;
+  }
+
   laser->SetIs360Laser(is_360_lidar);
 
   double max_laser_range = 25;