distance between robot and line

kam3k / laser_line_extraction

A ROS package that extracts line segments from LaserScan messages.

BSD 3-Clause "New" or "Revised" License

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distance between robot and line #7

Closed johnbryant1 closed 5 years ago

johnbryant1 commented 5 years ago

Hi, I want to use your package to create a wall following algorithm where instead of checking directly the distance to the wall through the laserscanner points, I want to just compute the distance to the line. I see that the output of the line_segment topic is the polar coordinates. which angle of the robot does the r value given corresponds to ? Thanks in advance.

kam3k commented 5 years ago

See Figure 2 in this paper.

The axes in that figure are the axes of the laser scanner. The radius returned by this package is the value of R in the figure, and the angle returned by this package is the value of α.

dlfksj commented 3 years ago

Hi, I have a same question but I can't open the link. Would you mind copying the figure here?

kam3k commented 3 years ago

@dlfksj Updated link here.