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ros-perception / laser_geometry

Provides the LaserProjection class for turning laser scan data into point clouds.
BSD 3-Clause "New" or "Revised" License
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Laser scan points with max_range will be discarded #60

Open Solitry opened 4 years ago

Solitry commented 4 years ago

Hi,

When I use function projectLaser and given the range_cutoff as default value -1, the range_cutoff will be set to scan_in.range_max, and it will let the points with the max_range be discarded.

However, in the doc of sensor_msgs/LaserScan, it says:


float32[] ranges  # range data [m] (Note: values < range_min or > range_max should be discarded)

I think the point that the range equals to max_range exactly should not be discarded.