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mich1342 / ros2_laser_scan_merger

A ros2 package to merge several laserscan topics by creating a new virtual laserscan topic. Each source laserscan could be configure via the parameter to determine the heading of each source laserscan and the relative position of each source laserscan to the virtual laserscan
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How is offset calculated #14

Closed maksimmasalski closed 5 months ago

maksimmasalski commented 5 months ago

Hello, I'm trying to figure out how offset is calculated, and what is a reference point that offset is using? I noticed that on small values like 0.125, or 0.25 there is no change in rviz ( I was changing Y value). But if I give big value like 1.0, I immediately can see that final /scan visualization changed its position.

mich1342 commented 5 months ago

Hi,

All of the offset are calculated from the center of the robot. It is just a simple matrix calculation offseting the coordinates directly. The changes might need some times for the parameters to refresh. Thank you

Best Regards

Michael

maksimmasalski commented 5 months ago

Hi,

All of the offset are calculated from the center of the robot. It is just a simple matrix calculation offseting the coordinates directly. The changes might need some times for the parameters to refresh. Thank you

Best Regards

Michael

Thanks Mich, yes, I noticed some lagging between rqt parameters change and rviz drawing. Sometimes I needed to restart node to see a refreshed lidar scan position. Now it works well using SLAM ToolBox. I will record video soon

mich1342 commented 5 months ago

Hi @maksimmasalski ,

Glad to hear that it works for you. May I know your setup and how many packages are you running that you got some noticeable lag from the parameter changes?