laserscan2costmap occupancy grid map orientation not right

autowarefoundation / autoware_ai

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laserscan2costmap occupancy grid map orientation not right #676

Closed zhengzh closed 5 years ago

zhengzh commented 5 years ago

Laser scan doesn't align with ring map, the laser should rotate clockwise pi/2 to align with the map. it seems that following line in laserscan2costmap.cpp is wrong,

static double laser_offset = fabs(scan.angle_min);

should be

static double laser_offset = scan.angle_min + 2 * M_PI;

gbiggs commented 5 years ago

Thanks for using Autoware and for your bug report.

Your report does not give us enough information to reproduce the bug. If we cannot reproduce it, we will be unable to find the cause and fix it. We ask that you please follow our support guidelines when making a bug report: https://github.com/autowarefoundation/autoware/wiki/Support-guidelines. Please pay particular attention to the information we ask you to provide.

If you think that this may not be a bug but is instead a problem in your use of Autoware, then consider closing this bug report and opening a topic on the Autoware Discourse category requesting help. This may get you past your problem faster. Link to your new topic from this issue so we know where to continue the discussion.