Anthony Goeckner

Hey @kevinpapst, I found some time to get back to this. I've manually tested and found that the CLI change works as expected. I also added some automated tests (which...

Are we ready to merge this given that it has been tested now?

Hey @kevinpapst, yes, that's my exact use-case. Thank you for taking care of this! It's greatly appreciated. I will close this PR as superseded by #5540.

Good point, thank you Steve. I've updated that now. I'll test my changes once I get into the lab later today and will let you know if all still works...

Hey @SteveMacenski, I've updated the code to respect the original scan arc. However, this causes some problems with slam_toolbox: > LaserRangeScan contains 359 range readings, expected 360 I believe that...

No, slam_toolbox does not consider the lidar sensor to be a 360-degree lidar because the LD08/LDS-02 and its drivers are such poor quality that max-min angle is never actually close...

Hi @jonbinney, this code was originally written to enable the use of low-quality LIDAR sensors with the slam_toolbox package. Originally, it placed all measurements into a fixed number of bins...

@jonbinney @SteveMacenski updated as described above. Let me know how it looks!

Good questions. > are angle_min, angle_max, and increment the same for every scan published by the driver? No, these are all over the place. The scan arc is never the...

Hey Jon, I think that Steve summed it up pretty well. Sounds like the only remaining task is to fix the `time_increment`, taking into account the corner cases as you...