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Judging by the line double angle = -atan2(x, z) + 1.57; your angle will be in the range of [-pi/2 ; 3/2 * pi]. I dont know, why pi/2 is added there, but if you want to receive a full 360 degrees scan, you should try setting min_angle to -pi/2 and max_angle to 3/2 * pi.

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