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2019-08-19 01:02:35 -0600 marked best answer How should I interpret the sensor_msgs/LaserScan.angle_min?

Hello,

I am using the RPLidar A2 on my ROSbot 2.0 for environment detection.

I am currently trying to implement a side-distance measurer that measures the distance of four sides, let's say NORTH, EAST, SOUTH and WEST. However, rather than being the directions relative to the robot body, I want to measure the sides in exact degrees of 0, 90, 180 and 270, with respect to the initial theta orientation of the robot being 0.

To do this, I implemented a function that takes in a global angle, and based on scan attributes and current yaw, returns the index in ranges that the degree is at.

angle_to_index = lambda angle: int( ((angle - (yaw+scan.angle_min)) % (2*math.pi))/scan.angle_increment )

Let's assume that the initial orientation is robot facing NORTH. When I request the readings at degree 0 with angle_to_index(0), the readings fit that of the SOUTH direction.

That makes me think, if the scan.angle_min value is -3.12, which I suppose is relative to the front of the robot, then scan.ranges[0] should return a reading from the back of the vehicle, right? But in this case, it looks like readings around the scan.angle_min correspond to the front of the robot, which confused me.

So, how should I interpret the sensor_msgs/LaserScan.angle_min?

2019-08-16 06:38:46 -0600 commented answer How should I interpret the sensor_msgs/LaserScan.angle_min?

Got it, thanks. The issue seems fixed with this update. Best.

2019-08-16 04:08:12 -0600 commented answer How should I interpret the sensor_msgs/LaserScan.angle_min?

Hi, Thanks for the detailed answer. My LaserScan readings claim that angle_min: -3.12413907051, angle_increment: 0.017

2019-08-16 04:02:42 -0600 commented answer How should I interpret the sensor_msgs/LaserScan.angle_min?

Hi, Thanks for the detailed answer. My LaserScan readings claim that angle_min: -3.12413907051, angle_increment: 0.017

2019-08-16 04:02:14 -0600 answered a question How should I interpret the sensor_msgs/LaserScan.angle_min?

Hi, Thanks for the detailed answer. My LaserScan readings claim that angle_min: -3.12413907051, angle_increment: 0.017

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2019-08-16 03:37:05 -0600 edited question How should I interpret the sensor_msgs/LaserScan.angle_min?

How should I interpret the `sensor_msgs/LaserScan.angle_min`? Hello, I am using the RPLidar A2 on my ROSbot 2.0 for env

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2019-08-16 03:36:58 -0600 edited question How should I interpret the sensor_msgs/LaserScan.angle_min?

So, how should I interpret the `sensor_msgs/LaserScan.angle_min`? Hello, I am using the RPLidar A2 on my ROSbot 2.0 for

2019-08-16 03:36:42 -0600 asked a question How should I interpret the sensor_msgs/LaserScan.angle_min?

So, how should I interpret the `sensor_msgs/LaserScan.angle_min`? Hello, I am using the RPLidar A2 on my ROSbot 2.0 for

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2019-08-01 06:24:26 -0600 commented question Should the autogenerated /install folder in a catkin workspace be committed to VCS?

Hi @gvdhoorn, in my search text, I have included words like git, vcs, and install. I did not come up with a prior answer

2019-08-01 04:26:52 -0600 asked a question Should the autogenerated /install folder in a catkin workspace be committed to VCS?

Should the autogenerated /install folder in a catkin workspace be committed to VCS? Hello, I have recently created a ca