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gazebo_ros_block_laser FOV limitation of -90 to +90 degrees?

asked 2012-01-05 10:51:45 -0500

WW gravatar image

updated 2014-01-28 17:11:05 -0500

ngrennan gravatar image

Hi guys,

I'm trying to use the gazebo_ros_block_laser to provide point cloud data of a -180 to 180 degree (360 degree) field of view. However visualizing using RVIZ , only -90 degree to +90 degree looks very good. Everything else behind the lidar system looks incorrect. Is this a known design limitation of gazebo_ros_block_laser or am I using this incorrectly?

Thanks guys, WW

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answered 2012-02-09 10:40:18 -0500

WW gravatar image

I was able to figure this out, if anyone is curious. Changing the ray transform order in MultiRayShape.cc (gazebo) to yaw->pitch from pitch->yaw did the trick. Now my 360 degree lidar point cloud looks perfect. Without this change, the vertical component of the point cloud distance becomes inverted in the rear semi circle of the horizontal fov. Difficult to notice with small horizontal range.

Change line 116 to this: axis.Set(cos(pitchAngle.GetAsRadian()) * cos(yawAngle.GetAsRadian()), cos(pitchAngle.GetAsRadian()) * sin(yawAngle.GetAsRadian()), sin(pitchAngle.GetAsRadian()));

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Asked: 2012-01-05 10:51:45 -0500

Seen: 233 times

Last updated: Feb 09 '12