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Add parameters for min/max angle #44

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Add parameters for min/max angle #44

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53 changes: 38 additions & 15 deletions src/LMS1xx_node.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -41,6 +41,8 @@ int main(int argc, char **argv)
sensor_msgs::LaserScan scan_msg;

// parameters
double angle_max;
double angle_min;
std::string host;
std::string frame_id;
bool inf_range;
Expand All @@ -51,11 +53,20 @@ int main(int argc, char **argv)
ros::NodeHandle n("~");
ros::Publisher scan_pub = nh.advertise<sensor_msgs::LaserScan>("scan", 1);

n.param<double>("angle_max", angle_max, M_PI);
n.param<double>("angle_min", angle_min, -M_PI);
n.param<std::string>("host", host, "192.168.1.2");
n.param<std::string>("frame_id", frame_id, "laser");
n.param<bool>("publish_min_range_as_inf", inf_range, false);
n.param<int>("port", port, 2111);

if (angle_min > angle_max)
{
ROS_FATAL("Minimum angle %f exceeds maximum angle %f", angle_min, angle_max);
ros::shutdown();
return 1;
}

while (ros::ok())
{
ROS_INFO_STREAM("Connecting to laser at " << host);
Expand Down Expand Up @@ -92,19 +103,28 @@ int main(int argc, char **argv)
scan_msg.range_max = 20.0;
scan_msg.scan_time = 100.0 / cfg.scaningFrequency;
scan_msg.angle_increment = static_cast<double>(outputRange.angleResolution / 10000.0 * DEG2RAD);
scan_msg.angle_min = static_cast<double>(outputRange.startAngle / 10000.0 * DEG2RAD - M_PI / 2);
scan_msg.angle_max = static_cast<double>(outputRange.stopAngle / 10000.0 * DEG2RAD - M_PI / 2);

const double output_range_start_angle = static_cast<double>(outputRange.startAngle) / 10000.0 * DEG2RAD - M_PI / 2.0;
const double output_range_stop_angle = static_cast<double>(outputRange.stopAngle) / 10000.0 * DEG2RAD - M_PI / 2.0;
angle_max = std::min(output_range_stop_angle, angle_max);
angle_min = std::max(output_range_start_angle, angle_min);

scan_msg.angle_min = angle_min;
scan_msg.angle_max = angle_max;

ROS_DEBUG_STREAM("Device resolution is " << (double)outputRange.angleResolution / 10000.0 << " degrees.");
ROS_DEBUG_STREAM("Device frequency is " << (double)cfg.scaningFrequency / 100.0 << " Hz");

int angle_range = outputRange.stopAngle - outputRange.startAngle;
int num_values = angle_range / outputRange.angleResolution;
if (angle_range % outputRange.angleResolution == 0)
{
// Include endpoint
++num_values;
}
const double angle_resolution = static_cast<double>(outputRange.angleResolution) / 10000.0 * DEG2RAD;
const double angle_range = angle_max - angle_min;
int num_values = round(angle_range / angle_resolution) + 1;

// Determine start index for incoming data
const int start_idx = std::ceil((angle_min - output_range_start_angle) / angle_resolution);

ROS_DEBUG_STREAM("Number of ranges is " << num_values);
ROS_DEBUG_STREAM("Range start index is " << start_idx);

scan_msg.ranges.resize(num_values);
scan_msg.intensities.resize(num_values);

Expand Down Expand Up @@ -180,9 +200,14 @@ int main(int argc, char **argv)
ROS_DEBUG("Reading scan data.");
if (laser.getScanData(&data))
{
for (int i = 0; i < data.dist_len1; i++)
ROS_ASSERT_MSG(data.dist_len1 == data.rssi_len1,
"Number of ranges (%d) does not match number of intensities (%d)",
data.dist_len1,
data.rssi_len1);

for (int i = 0; i < num_values; i++)
{
float range_data = data.dist1[i] * 0.001;
const float range_data = data.dist1[i + start_idx] * 0.001;

if (inf_range && range_data < scan_msg.range_min)
{
Expand All @@ -192,11 +217,9 @@ int main(int argc, char **argv)
{
scan_msg.ranges[i] = range_data;
}
}

for (int i = 0; i < data.rssi_len1; i++)
{
scan_msg.intensities[i] = data.rssi1[i];

scan_msg.intensities[i] = data.rssi1[i + start_idx];
}

ROS_DEBUG("Publishing scan data.");
Expand Down