osrf-migration
commented
6 years ago Original comment by Mikkel Cornelius Nielsen (Bitbucket: mikcoln).
I have exactly the same issue. The laser scan seems to react to changes in the roll and pitch.
Update: I found a quick fix by using the non-GPU laser library and now it works as expected.
Original report (archived issue) by Peter Gavriel (Bitbucket: pgavriel).
The original report had attachments: laserbug1.png, laserbug2.png, laserbug3.png
I was working on writing navigation nodes using laser sensors when I started seeing strange anomalies in the data being received, which was causing my nodes to not function properly. Chunks of the scan data appeared to be missing, but there isn't actually any data missing, it's just not accurate. After testing I realized it had to do with the roll and pitch of the robot. If the robot clipped an object or ran into something this issue would occur, and I confirmed by having the robot drive over an uneven surface to throw it off balance and the laser would immediately start bugging out. Screenshots attached.