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I'm trying to convert LaserScanner msgs to 2D vector(cartesian coordinates,(X,Y) pair) in C++ without using any library.Main problem is that I'm using a formula X=rcos(phi) and Y=rsin(phi),and if ranges[i] is r,how can I find phi?
The information is in the LaserScan message. You can angle_min for the start angle, and each range is angle_increment * i + angle_min for the phi.
For the Hokuyo URG-04LX-UG01 (as an example), the angular resolution is 0.36° which is what you would get if you do 240/ranges.size().
Therefore, assuming the X axes (phi=0) is following ROS convention, you have to set -120° to ranges[0] and then increase it by 0.36°. In summary: phi = (i * 0.36)-120. And then, convert to radians.
Asked: 2015-07-02 07:44:32 -0500
Seen: 853 times
Last updated: Jul 02 '15
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