Support REP 117 (report +inf instead of 0.0 for invalid ranges)

uos / sick_tim

A ROS driver for the SICK TiM series of laser scanners.

http://wiki.ros.org/sick_tim

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Support REP 117 (report +inf instead of 0.0 for invalid ranges) #54

Closed manuelmuehlig closed 6 years ago

manuelmuehlig commented 6 years ago

It seems that the sick_tim does not follow REP 117 http://www.ros.org/reps/rep-0117.html . It should report +inf for non-measurements instead of a range of 0.0. This currently poses a problem when using it for navigation with move_base and the costmap_2d. The flag inf_is_valid does not affect it and thus obstacles are not removed properly.

I have fixed this for our sick tim 551, but currently do not have enough time to create a proper pull request for all sick tim versions.

mintar commented 6 years ago

Hmm, good catch. Ironically, I've fixed other drivers to be REP 117 compliant but never checked if our own driver was. I'm on it. :)