Feature/invalid scans1.1.4 #8
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Just by the way, the graph is in wrong location because of a misconfigured |
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@rctoris can you take a look at this |
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Looks good! |
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@mig-em can you squash these commits into a single one so it is easier for future users/maintainers to see that these changes are related. Thanks! |
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I squashed them. |
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I adapted open_karto to work with the infinite readings from the Robopeak lidar driver on an Odroid XU4 (Exynos5422 Cortex™-A15 2Ghz and Cortex™-A7 Octa core CPUs, probably an ARM issue). The problem is that on the Odroid this infinite readings mess up the scan matching.
Without the patch:
With the patch:
On a generic pc (Intel Core i5) this doesn't happen:
Without patch:
Is it right that the scan matcher doesn't consider min and max range?
If you need more information ask and I will be happy to provide them.
I can provide also a rosbag file with laserscan data and odometry to reproduce the problem if you want.