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Slamtec / rplidar_ros

BSD 2-Clause "Simplified" License
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Base frame for lidar is incorrect, and other errors #31

Open SteveMacenski opened 4 years ago

SteveMacenski commented 4 years ago

As reported https://github.com/SteveMacenski/slam_toolbox/issues/198, I am inundated with requests / issues from RP-lidar customers regarding this driver. There are at least 1 but potentially numerous ROS standard violations that create issues for people running SLAM implementations that assume compliance with community best practices in frame and message population.

If these issues are not resolved, I will likely cease support for RP-lidar customers (and this is the default SLAM for navigation in ROS2).

Feel free to engage and we can work through some of the problems that need to be fixed.

myxiaojun commented 1 year ago

with RPLIDAR A3 , I meet the same problem, so how to fix the "wrong rotation direction" problem , to fit ros definition ( # in frame frame_id, angles are measured around the positive Z axis (counterclockwise, if Z is up) with zero angle being forward along the x axis)？