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robopeak / rplidar_ros

BSD 2-Clause "Simplified" License
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what's the purpose of the angle compensate? And what's the principle of doing this? #53

Closed linxigjs closed 6 years ago

linxigjs commented 6 years ago

https://github.com/robopeak/rplidar_ros/blob/c67b213774397c600ddd0b48178e3fbe99c5c7c6/src/node.cpp#L258

kintzhao commented 6 years ago

just for the principle of ros scan message by fixed increased angle, because the angle of scan in rplidar is not fixed increased

linxigjs commented 6 years ago

thx. But i still don't understand why rplidar is not fixed increased angle? And why this codeblock can realize the compensate and transform? Could you explain in detail?

kintzhao commented 6 years ago

get angle and distance by grabScan();
float angle = (float)((nodes[i].angle_q6_checkbit >> RPLIDAR_RESP_MEASUREMENT_ANGLE_SHIFT)/64.0f);

make float angle near integer index, please read code

linxigjs commented 6 years ago

Get it. THX.