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Failed attempt to fix lidar mismatching map #36

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Failed attempt to fix lidar mismatching map #36

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53 changes: 21 additions & 32 deletions flatland_plugins/src/laser.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -86,6 +86,9 @@ void Laser::OnInitialize(const YAML::Node& config) {
// changes
for (unsigned int i = 0; i < num_laser_points; i++) {
float angle = min_angle_ + i * increment_;
if (flipped_) { // Laser inverted, so laser local frame angles are also inverted
angle = -angle;
}

float x = range_ * cos(angle);
float y = range_ * sin(angle);
Expand Down Expand Up @@ -114,7 +117,11 @@ void Laser::OnInitialize(const YAML::Node& config) {

// Broadcast transform between the body and laser
tf::Quaternion q;
q.setRPY(0, 0, origin_.theta);
if (flipped_) {
q.setRPY(M_PI, 0, origin_.theta);
} else {
q.setRPY(0, 0, origin_.theta);
}

laser_tf_.header.frame_id = tf::resolve(
"", GetModel()->NameSpaceTF(body_->GetName())); // Todo: parent_tf param
Expand Down Expand Up @@ -240,37 +247,19 @@ void Laser::ComputeLaserRanges() {

// Unqueue all of the future'd results
const auto reflectance = reflectance_layers_bits_;
if (flipped_) {
auto i = laser_scan_.intensities.rbegin();
auto r = laser_scan_.ranges.rbegin();
for (auto clusterIte = results.begin(); clusterIte != results.end();
++clusterIte) {
auto resultCluster = clusterIte->get();
for (auto ite = resultCluster.begin(); ite != resultCluster.end();
++ite, ++i, ++r) {
// Loop unswitching should occur
if (reflectance) {
*i = ite->second;
*r = ite->first;
} else
*r = ite->first;
}
}
} else {
auto i = laser_scan_.intensities.begin();
auto r = laser_scan_.ranges.begin();
for (auto clusterIte = results.begin(); clusterIte != results.end();
++clusterIte) {
auto resultCluster = clusterIte->get();
for (auto ite = resultCluster.begin(); ite != resultCluster.end();
++ite, ++i, ++r) {
// Loop unswitching should occur
if (reflectance) {
*i = ite->second;
*r = ite->first;
} else
*r = ite->first;
}
auto i = laser_scan_.intensities.begin();
auto r = laser_scan_.ranges.begin();
for (auto clusterIte = results.begin(); clusterIte != results.end();
++clusterIte) {
auto resultCluster = clusterIte->get();
for (auto ite = resultCluster.begin(); ite != resultCluster.end();
++ite, ++i, ++r) {
// Loop unswitching should occur
if (reflectance) {
*i = ite->second;
*r = ite->first;
} else
*r = ite->first;
}
}
}
Expand Down