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PepperlFuchs / pf_lidar_ros_driver

ROS driver for Pepperl+Fuchs R2000 and R2300 laser scanners
https://www.pepperl-fuchs.com/global/en/23097.htm
Apache License 2.0
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NaN range not filled in for packet type C #22

Open bk-mtg opened 4 years ago

bk-mtg commented 4 years ago

I haven't actually observed this in an operational setting, but I think this line that publishes NaN instead of the distance measurement only works for packet types A/B but not for packet type C. Not sure if it matters in practice since in any case it will be above the range_max parameter and should be ignored, but it seems generally undesirable to treat the various packet types differently. https://github.com/PepperlFuchs/ROS_driver/blob/477d72066f8cfc6ecb960fc388c2a8f0e9f6a3ec/pf_driver/src/ros/scan_publisher.cpp#L81-L82

hsd-dev commented 4 years ago

Is it addressed in https://github.com/PepperlFuchs/ROS_driver/pull/26?

bk-mtg commented 4 years ago

Not at present, no.