Merge pull request #10 from ipa320/rings

Fixed angle_min and angle_max
PepperlFuchs · Sep 19, 2019 · 2207f30 · 2207f30
2 parents 88cdaa1 + 54c4157
commit 2207f30
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Showing 2 changed files with 7 additions and 7 deletions.
diff --git a/pf_driver/include/pf_driver/pf_interface.hpp b/pf_driver/include/pf_driver/pf_interface.hpp
@@ -117,9 +117,9 @@ class PF_Interface : public HardwareInterface<ConnectionType>, public DataParser
             scanmsg.header.frame_id = frame_id + "_" + std::to_string(i);
             scanmsg.header.stamp = ros::Time::now();
 
-            std::uint32_t fov = std::atof(parameters["angular_fov"].c_str()) / 2.0;
-            scanmsg.angle_min = -fov * M_PI / 180;
-            scanmsg.angle_max = +fov * M_PI / 180;
+            float fov = std::atof(parameters["angular_fov"].c_str()) / 2.0;
+            scanmsg.angle_min = -fov * M_PI / 180.0;
+            scanmsg.angle_max = +fov * M_PI / 180.0;
 
             scanmsg.angle_increment = (fov * M_PI / 90) / float(scandata.distance_data.size());
             scanmsg.time_increment = 1 / 35.0f / float(scandata.distance_data.size());

diff --git a/pf_driver/launch/r2300_allscans.launch b/pf_driver/launch/r2300_allscans.launch
@@ -1,10 +1,10 @@
 <?xml version="1.0"?>
 <launch>
   <include file="$(find pf_driver)/launch/r2300.launch"/>
-  <node pkg="tf" type="static_transform_publisher" name="ring1" args="0 0 0 0 0 0.0785 /scan /scan_0 10" />
-  <node pkg="tf" type="static_transform_publisher" name="ring2" args="0 0 0 0 0 0.0262 /scan /scan_1 10" />
-  <node pkg="tf" type="static_transform_publisher" name="ring3" args="0 0 0 0 0 -0.0785 /scan /scan_2 10" />
-  <node pkg="tf" type="static_transform_publisher" name="ring4" args="0 0 0 0 0 -0.0262 /scan /scan_3 10" />
+  <node pkg="tf" type="static_transform_publisher" name="ring1" args="0 0 0 0 0.0785 0 /scan /scan_0 10" />
+  <node pkg="tf" type="static_transform_publisher" name="ring2" args="0 0 0 0 0.0262 0 /scan /scan_1 10" />
+  <node pkg="tf" type="static_transform_publisher" name="ring3" args="0 0 0 0 -0.0785 0 /scan /scan_2 10" />
+  <node pkg="tf" type="static_transform_publisher" name="ring4" args="0 0 0 0 -0.0262 0 /scan /scan_3 10" />
   <!--node name="rvizLocal" pkg="rviz" type="rviz" respawn="false" output="screen" args= "-d $(find pf_driver)/rviz/4layer.rviz" required="true" /-->
 </launch>