Comments (2)
relffok
commented on August 15, 2024
Laserscan flickering was due to rejected cloud_msgs in the pointcloud to laserscan function.
Due to the virtual_laser_link (which was set at the same height as the actual laser scanners) and the min_height set to 0.0, the conversion was not made and the scan thrown out. https://github.com/relffok/ira_laser_tools/blob/036a193563e31109cdac10e0f8bd66ecd4616c8a/src/ira_laser_tools/src/laserscan_multi_merger.cpp#L414
[laserscan_multi_merger-3] [DEBUG] [1632330117.614150753] [laser_scan_merger]: rejected for height -0.000000 not in range (-0.000000, 179769313486231570814527423731704356798070567525844996598917476803157260780028538760589558632766878171540458953514382464234321326889464182768467546703537516986049910576551282076245490090389328944075868508455133942304583236903222948165808559332123348274797826204144723168738177180919299881250404026184124858368.000000)
Two possible solutions:
- change the virtual_laser_link position
- adjust the height range (min_height) for the conversion
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relffok
commented on August 15, 2024
Addressed in d43b8ae
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