cob_scan_unifier is not merging complete scans in simulation

[benmaidel]

scan unifier produce gap on the back of cob4-2

@ipa-frm @ipa-mig

[mgruhler]

hmm, also, there is a z-offset (which will probably not be a problem for our use-cases... but we should change that anyways...

[benmaidel]

the z-offset seems to be ok. Imagine the scanners are mounted in different z positions (eg. our BMW). So transform the scans to the ground is ok, from my opinion. A better solution would be the usage of a point cloud instead a merged scan message.

[benmaidel]

https://github.com/iralabdisco/ira_laser_tools
there you can find a tool with the same purpose as cob_scan_unifier.
Difference:

• no gaps
• dynamic reconfigure
• offers point cloud 2 as well

Perhaps we should stick to this package? We could even copy the code from this package to our repo, because it has no license at all.

[benmaidel]

This issue was moved to ipa320/cob_driver#249