Rviz only showing 90 deg FOV [closed]

edit

Hi, I am working with a mobile robot equipped with two Sick S300 scanners, which each have a 270 degree field of view. I managed to get the scanners working, and publishing the scans on the LaserScan topic fine.

However, when I add a LaserScan view to Rviz (which shows the robot model and sensor data from the ultrasonic sensors just fine), only a 90 degree field of view is shown.

I have tried to plot samples of each scanner topic in Matlab, and there I can see the full 270 degree FOV just fine, so the problem is not in the driver I'm using, nor is it in the publishing of the topics.

This is the plot in Matlab, the X is the position of the scanner, and the separate scanners are color coded.

I have indicated with the arrows the FOV of each scanner as shown in Rviz.

Sorry for the incredibly bad graphics.

Update:

I noticed a warning when loading Rviz:

File r300_draw.c function r300TryDrawPrims line 671

Rendering was 19 commands larger than predicted size. We might overflow command buffer.

After seeing this, I tried to remove the robot model (URDF with an STL mesh) from the Rviz config, and there was much more continuous display of the laser scan (another problem I had). Upon adding the robot model to the view again, the full scan, 270 deg, for both scanners is shown (but still with poor visualization of the data).

Is my STL file causing some sort of corruption, or is it perhaps too complex / has too many points?

The strange thing is that I have to remove and re-add the robot model to the Rviz view to see the complete scan.