The LiDAR rays are calculated from the x, y position of the LiDAR sensor towards a point at ray_length distance and at the angles thetas. The resulting distance per ray is either the ray_length or a value lower if there is an object between the two points.
However, if the robot itself is rotated along the z-axis, this information is not considered in calculating the ray_end position. This means that the LiDAR rays will show the same values if the robot is rotating around the z-axis as if the sensor is only moving along the x- and y-axes and not rotating if the robot is.
The LiDAR rays are calculated from the x, y position of the LiDAR sensor towards a point at
ray_length
distance and at the anglesthetas
. The resulting distance per ray is either theray_length
or a value lower if there is an object between the two points.However, if the robot itself is rotated along the z-axis, this information is not considered in calculating the
ray_end
position. This means that the LiDAR rays will show the same values if the robot is rotating around the z-axis as if the sensor is only moving along the x- and y-axes and not rotating if the robot is.Tested using the point robot LiDAR example.