Fix lidar resolution description about interpolation #506
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Signed-off-by: Mabel Zhang <mabel@openrobotics.org>
ahcorde
approved these changes
Mar 5, 2021
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Thanks for the review! I don't have permission in this repo to merge, so anyone else feel free to merge :) |
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🦟 Bug fix
Fixes description about when interpolation is done in
<lidar><scan><horizontal | vertical><resolution>.Summary
The current description says "If resolution is less than one, range data is interpolated. If resolution is greater than one, range data is averaged."
But in the actual
RaySensorimplementation in both Gazebo 9 and 11, interpolation is done whenever resolution != 1.interpis set totruewheneverrayCount != rangeCount(in SDF parameters' terms, that issamples != samples * resolution):https://github.com/osrf/gazebo/blob/d94e2e0b6754a929c11dec4dff2131cfd291478e/gazebo/sensors/RaySensor.cc#L412-L413
This PR updates the description to match the implementation.
Checklist
Added testsUpdated migration guide (as needed)sh tools/code_check.sh)test coverage)
another open pull request
to support the maintainers
@iche033
Note to maintainers: Remember to use Squash-Merge