Also, I've noticed that the tf lookup transform returns a very weird orientation with dummy scan. Calculating asin and acos of the quaternion returns two different values. In addition, sometimes it is returning a reverted quaternion.
Since I saw this happening with at least two machines, I've decided to change the dummy scan to calculate from positions rather than using the tf orientation.
fix for #363
Also, I've noticed that the tf lookup transform returns a very weird orientation with dummy scan. Calculating asin and acos of the quaternion returns two different values. In addition, sometimes it is returning a reverted quaternion. Since I saw this happening with at least two machines, I've decided to change the dummy scan to calculate from positions rather than using the tf orientation.