I have noticed some instances where a single scan from this driver will be distorted. See images below for example:
A 'good' scan from the driver:
A distorted scan, taken in the same area:
I've noticed that the number of points in the distorted scan is fewer than in the good scan - I'm guessing an incomplete/partial scan has been received, which is then 'stretched' to make a full 360 degree scan. See this line, where angle_increment is set on the assumption that the full scan was received:
scanmsg.angle_increment = 2*M_PI/float(scandata.distance_data.size());https://github.com/dillenberger/pepperl_fuchs/blob/master/pepperl_fuchs_r2000/src/rosnode/r2000_node.cpp#L127
I have noticed some instances where a single scan from this driver will be distorted. See images below for example:
A 'good' scan from the driver:
A distorted scan, taken in the same area:
I've noticed that the number of points in the distorted scan is fewer than in the good scan - I'm guessing an incomplete/partial scan has been received, which is then 'stretched' to make a full 360 degree scan. See this line, where angle_increment is set on the assumption that the full scan was received:
scanmsg.angle_increment = 2*M_PI/float(scandata.distance_data.size());https://github.com/dillenberger/pepperl_fuchs/blob/master/pepperl_fuchs_r2000/src/rosnode/r2000_node.cpp#L127Note this was observed a couple years ago, so I cannot provide much detail on what I was running when I observed it, except it was on a laptop running kinetic. I decided to log this issue when I saw another user apparently experiencing the same issue on answers.ros: https://answers.ros.org/question/316652/data-error-with-pepperl-fuchs-r2000-with-ros-kinetic/#