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iris-ua / iris_lama_ros

LaMa on ROS
BSD 3-Clause "New" or "Revised" License
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Fix inverted LiDAR support #14

Closed efernandez closed 4 years ago

efernandez commented 4 years ago

Fix inverted LiDAR support

With a correct URDF transform specification there's no need to have special logic to detect whether the LiDAR is inverted/reversed or not, i.e. whether the z-axis is point up or down. This information is in the roll, which wasn't used to set the laser_origin. This change also takes the pitch into account.

I'm happy to add a check to verify the LiDAR is still in a plane parallel to the floor, i.e. the XY plane, since I believe any other plane is not supported. In practice that means these two conditions should be satisfied:

On top of https://github.com/iris-ua/iris_lama_ros/pull/13

eupedrosa commented 4 years ago

Thank you @efernandez, this was long overdue.

I'm happy to add a check to verify the LiDAR is still in a plane parallel to the floor

Like you said, a correct URDF should takes care of this.