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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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Bug when start_angle & max_num_points_scan are specified #47

Closed wsaihopfsg closed 2 years ago

wsaihopfsg commented 3 years ago

In R2300 there are 2 ways to limit the FOV

  1. User specifies the optional start_angle & max_num_points_scan arguments when invoking request_handle_udp. This is backward-compatible with R2000
  2. By changing the paramaters measure_start_angle & measure_stop_angle. This is only available in R2300.

The current code makes provision only for case 2 and does not seem to consider case 1, which may result in erroneous RViz output.

For example, consider the following parameters in which the FOV is between -10⁰ to 10⁰

scan_frequency = 100Hz
angular_increment = 0.2⁰
measure_start_angle = -50⁰ (default)
measure_stop_angle =  50⁰ (default)
start_angle = -10⁰
max_num_points_scan = 101

RViz output will be wrong image

This is due to the fact that the current code only consider param_.angle_min, which is obtained from measure_start_angle https://github.com/PepperlFuchs/ROS_driver/blob/80c423ad038d2ff197bd81588ad40ee3f3cd56e5/pf_driver/src/ros/scan_publisher.cpp#L60

If we use the correct values for msg->angle_min & msg->angle_max, the RViz output will be okay i.e. scan lines subtended from the origin from -10⁰ to 10⁰ image

hsd-dev commented 2 years ago

Does https://github.com/PepperlFuchs/pf_lidar_ros_driver/pull/50 fixes this issue?

hsd-dev commented 2 years ago

This issue is fixed by https://github.com/PepperlFuchs/pf_lidar_ros_driver/pull/50.