LMS1xx node outputs curved laser scan data

asked 2018-10-01 14:54:47 -0500

I am trying to use the lms1xx ROS driver in kinetic which I installed using:

sudo apt-get install ros-kinetic-lms1xx

I am starting the LMS1xx_node using:

rosrun lms1xx LMS1xx_node

The sensor connects fine and I get laser data streaming into the /scan topic, however when I visualize, it looks like there are strange curves in the data (when it is obviously sensing a straight wall).

This is not the case when I start the evaluation visualizer using the SOPAS Engineering Tool, where I see a nice straight scan output from the sensor. This makes me think there is a strange configuration in the ROS node that I can not seem to figure out. Any help is appreciated, thanks.

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Comments

If the angular resolution is incorrectly set this would result in the type of distortion you describe. Can you show us the launch file you're using to start the sensor?

PeteBlackerThe3rd gravatar imagePeteBlackerThe3rd ( 2018-10-02 07:09:22 -0500 )edit

Which model is your sick laser range finder using?

HankYuan gravatar imageHankYuan ( 2018-10-05 02:25:38 -0500 )edit