Fix tolerance calculation precision #934
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ahcorde
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Dec 22, 2022
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@ahcorde is there something wrong that make the builds fail? Should i change anything or is the fix wrong? |
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I'm also seeing the same behavior for RVIZ on humble, is this planned to be merged into humble as well? Just like issue #852 |
981213
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(cherry picked from commit 0c41714)
ahcorde
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Jun 8, 2023
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Currently there is an open issue #852 that laser scan error flickers and warns about
extrapolationerrors. I've found myself hitting on this issue as well, so i tracked it down a bit and found probably the culprit.According to ros-perception/laser_geometry#83 fix (it has been merged despite the wrong icon) there is some precision lost due to the multiplication
float32andint64leading to some other errors on their repo.So, i incorporated the same fix in
laser_scan_display.cppas well, and the flickering has gone for me as well and no more extrapolation errors.rclcpp::Duration::from_seconds(double)was introduced fromeloquentdistro, so this fix should apply for all currently available distros.Give it a try and pull it if it does indeed solve the issue! :)