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cyberbotics / webots_ros2

Webots ROS 2 packages
Apache License 2.0
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Range-finder returns MAX_RANGE when out of range instead of INFINITY. #388

Closed TaoYibo1866 closed 2 years ago

TaoYibo1866 commented 2 years ago

https://github.com/cyberbotics/webots/blob/358d358e83e4d660987307632188832b5c61655a/docs/reference/rangefinder.md?plain=1#L67-L69

I was using Webots R2022a, webots_ros2 1.2.2, and writing a depth camera plugin. The range returned by getRangeImage() was MAX_RANGE instead of INFINITY when out of range.

BenjaminHug8 commented 2 years ago

Hi @TaoYibo1866, there is a typo at the line you mentioned. If you take a look here, you will see that the range returned is MAX_RANGE when out of range.

I will correct the doc, thanks for spotting this!

TaoYibo1866 commented 2 years ago

https://github.com/cyberbotics/webots/pull/2509

It seems that Lidar returns INF instead of MAX_RANGE. Does range-finder act differently by design?

TaoYibo1866 commented 2 years ago

cyberbotics/webots#2509

It seems that Lidar returns INF instead of MAX_RANGE. Does range-finder act differently by design?

According to Webots R2021a changelog, they should return infinity when the depth is out of range.

BenjaminHug8 commented 2 years ago

Let me check, I do not think Lidar and rangeFinder should have different behavior.

BenjaminHug8 commented 2 years ago

@TaoYibo1866 I investigate a bit. Lidar and rangeFinder should return INF when an object is closer than minRange or farther than maxRange.

I am currently fixing the rangeFinder and the doc.

BenjaminHug8 commented 2 years ago

This issue should be fixed with https://github.com/cyberbotics/webots/pull/4167.

TaoYibo1866 commented 2 years ago

This issue should be fixed with cyberbotics/webots#4167.

Is there a workaround at hand? Will replace the .so file in webots_ros2/webots_ros2_driver/webots/lib be useful?

BenjaminHug8 commented 2 years ago

Once the fix will be merged, the repos https://github.com/cyberbotics/webots-libcontroller will be updated during the following night.

Then you will be able to navigate to the webots_ros2/webots_ros2_driver/webots/ folder and git branch on R2022a and git pull. I will warn you when it will be ready.

BenjaminHug8 commented 2 years ago

@TaoYibo1866 the fix has been merged.

You just have to update your Webots by either:

BTW forget about the libcontroller, you won't have to change it.

In case you have troubles with the installation feel free to reopen this issue!