pr2_bringup/pr2.launch uses a range the the laser can support (ros ticket #4055)

[ahendrix]

On default the tilt laser is brought up with -1.39 to 1.39, which is a wider swath than the laser can support in intensity mode. The laser then comes up with the left half of the swath missing, as the max is can maintain is .28. I think this is two bugs - the launch file should be updated to have the -.8 to .8 range that the laser can support. I'm also going to submit a bug to hokuyo node that the behavior should be better in centering the angle if the swath is bigger than can be supported - the current behavior is bad.

trac data:

• Owner: blaise
• Reporter: gjones
• Reported at: Thu Mar 18 11:37:29 2010
• URL: https://code.ros.org/trac/wg-ros-pkg/ticket/4055

[ahendrix]

[blaise] Vijay has a similar ticket open. I think that he is looking into adjusting the default angle range, or turning off intensity by default.

I do not plan on changing the behavior of the driver for two reasons:

• Having the driver reduce the range in a symmetric range makes interactive (reconfigure_gui) use really strange. (This is the main reason.)
• The only case in which the driver reducing the range in a symmetric way is advantageous are cases in which there is an incorrect setting in a launch file. I would rather that incorrect setting be apparent rather than trying to guess a setting that will be more pleasing. (This is a secondary reason.)

[ahendrix]

[vpradeep] The referenced ticket is here: [[BR]] Hokuyo Node unintuitively truncates scan range [[BR]] https://code.ros.org/trac/ros-pkg/ticket/3833

Two options are:

1. Start up the tilt hokuyo without intensity
2. Shrinking the scan angle to something the hokuyo node is ok with

I would argue that (1) is a breaking change, whereas (2) is a bugfix. Thus I would suggest (2).

[ahendrix]

[vpradeep] Changed the hokuyo range in pr2.launch on trunk (r34033)