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robopeak / rplidar_ros

BSD 2-Clause "Simplified" License
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Error for certain range of min_angle and max_Angle. #54

Closed gokul-gokz closed 5 years ago

gokul-gokz commented 6 years ago 
I am using this branch: https://github.com/kintzhao/rplidar_ros/tree/feature/angFilterPublish for limiting the range of the lidar. As per the code,to get the complete range of lidar, the min_angle should be set to -3.14 and the max_angle should be set to 3.12. This gives a complete 360 degree range of lidar.

I have mounted the lidar such that the -x axis is facing the front side of the robot. So, I want to filter the laserscan to have a range of 180 degress. So , as per the axis and degree convention in the diagram rplidar_A2.png, I have set the min_angle to be -1.57 and max_angle to 1.57. But when I run the code, it throws an error immediately,

terminate called after throwing an instance of 'std::runtime_error' what(): Time is out of dual 32-bit range terminate called after throwing an instance of 'std::length_error' what(): vector::_M_fill_insert"

kintzhao commented 6 years ago

advise you check the size of publish_range_count ,debug by yourself