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hijimasa / laser_scan_integrator

This package integrates two laser scans with relative position recognition using TF and taking into account the footprint of the robot.
MIT License
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Parameters documentation? #1

Open lliendo opened 8 months ago

lliendo commented 8 months ago

Hi Masaaki,

Thanks a lot for this add-on! It worked at once after redirecting each lidar stream to their corresponding topic. I'm trying to understand the parameters that can be tweaked, for example:

'laser1XOff': 0.0,
'laser1YOff': 0.0,
'laser1Alpha': 0.0,
'show1': True,
'robotFrontEnd': 0.1,
'robotRearEnd': 0.1,
'robotRightEnd': 0.1,
'robotLeftEnd': 0.1,

Are the laser1XOff and laser1YOff the offsets for one lidar respect the robot's center? How the laser1Alpha should be used? And finally the robotXEnd what are these for? If I have let's more than two lidars then each one should be referenced as laserX, right?

Thanks once again for your time, Lucas.

hijimasa commented 5 months ago

Hi Lucas,

Thank you for pointing this out.

The laser1XOff and laser1YOff are offsets for one lidar with respect to the robot's center. Laser1Alpha and laser1Alpha are yaw angles that respect the robot's coordinates. I will change the laserXAlpha to laserXYaw.

The robotXend does not specify the laser range, but is used to define the robot's size and ignore the robot's frame. This parameter is required by some robots, but basically zero is fine.