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Slamtec / rplidar_ros

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node.cpp scan_msg.range_max is 0 with lidar A1 #71

Open blusser31 opened 2 years ago

blusser31 commented 2 years ago

I could not get catorgapher to run, because publish_scan() sets scan_msg.range_max to zero. Output of roslaunch rplidar_ros view_rplidar.launch of line 315

ROS_INFO("current scan mode: %s, sample rate: %d Khz, max_distance: %.1f m, scan frequency:%.1f Hz, ", current_scan_mode.scan_mode,(int)(1000/current_scan_mode.us_per_sample+0.5),max_distance, scan_frequency);

max_distance is always zero.

os: my@my-VirtualBox:~$ uname -a Linux my-VirtualBox 5.11.0-43-generic #47~20.04.2-Ubuntu SMP Mon Dec 13 11:06:56 UTC 2021 x86_64 x86_64 x86_64 GNU/Linux Lidar A1 was included with: sudo chmod 777 /dev/ttyUSB0

phithanhdanh commented 2 years ago

I have this issue too

blusser31 commented 2 years ago

Since this issue is half a year old I don't exactly remember how to fix it. But as I remember you have to go into line 79 in this file https://github.com/Slamtec/rplidar_ros/blob/master/src/node.cpp and replace max_distance with a number greater than 0. So just put in the 8 and it works. After that you have to recompile your catkin_ws however you compiled it.

It took me like two days to figure this out... still no fix...

cheers, blusser