RPLidar scan data is rendered counterclockwise, while LIDAR unit spins clockwise

simondlevy / BreezySLAM

Simple, efficient, open-source package for Simultaneous Localization and Mapping

GNU Lesser General Public License v3.0

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RPLidar scan data is rendered counterclockwise, while LIDAR unit spins clockwise #42

Open MaxPowerz opened 5 years ago

MaxPowerz commented 5 years ago

I'm using the SLAMTEC A1M8 LIDAR unit. The example "rpslam.py" map is inverted on the Y axis of the robot. It appears the scans are being drawn in a counterclockwise direction instead of clockwise. If i hold the LIDAR unit upside down so the laser unit rotation is counterclockwise it correctly matches whats represented on the screen.

Is there a way to change the scan rotation direction inside the BreezySLAM algorhythm?