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avidbots / flatland

A 2D robot simulator for ROS
BSD 3-Clause "New" or "Revised" License
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Laser scan Clockwise or Counterclockwise? #80

Closed sudo-Boris closed 2 years ago

sudo-Boris commented 3 years ago

Is the scan generated and then interpreted clockwise or counterclockwise? When training a model with flatland, the evaluation in the simulation is great, but when deploying onto the turtlebot3, the robot doesn't do what it should. The assumption is that the scan data is not interpreted correctly. The turtlebot3 generates its scan data counterclockwise.

josephduchesne commented 3 years ago

I believe it's clockwise by default, however this branch adds a "flipped" parameter (as well as some performance improvements) to the laser scan plugin, which inverts that: https://github.com/avidbots/flatland/pull/79

It's not merged into the mainline yet due to automatic CI tests failing, despite the tests passing on my local machine. I haven't had a chance to dig deeper into the CI test issue, but I think the branch works fine.

josephduchesne commented 2 years ago

The laser scan "flipped" parameter is now part of the mainline.