Handle case for lidar with 1 degree resolution that goes from [-179,1…

…80] with 360 readings (which RPLIDAR does in angle_compensate mode). Works with patched RPLIDAR driver here: allenh1/rplidar_ros#20 (#288)
SteveMacenski · Sep 9, 2020 · d9a8a86 · d9a8a86
1 parent d8afc1b
commit d9a8a86
Showing 1 changed file with 1 addition and 1 deletion.
diff --git a/src/laser_utils.cpp b/src/laser_utils.cpp
@@ -106,7 +106,7 @@ 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) < 1e-1) {
+  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))) {
     is_360_lidar = true;
   }