From 72404247f1389bb195f8753f724c8cb434b5a4a9 Mon Sep 17 00:00:00 2001
From: Chris Iverach-Brereton <civerachb@clearpathrobotics.com>
Date: Fri, 2 Aug 2024 17:02:14 -0400
Subject: [PATCH] Turns out the warning about the lidar being limited to 180
 degrees is a mistake, and you _actually_ do get 360 degrees

---
 turtlebot4_description/urdf/sensors/rplidar.urdf.xacro | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/turtlebot4_description/urdf/sensors/rplidar.urdf.xacro b/turtlebot4_description/urdf/sensors/rplidar.urdf.xacro
index ff87edd..f07e672 100644
--- a/turtlebot4_description/urdf/sensors/rplidar.urdf.xacro
+++ b/turtlebot4_description/urdf/sensors/rplidar.urdf.xacro
@@ -42,7 +42,7 @@
     -->
     <xacro:ray_sensor sensor_name="${name}" gazebo="${gazebo}" 
                   update_rate="62.0" visualize="1" 
-                  h_samples="640" h_res="1.0" h_min_angle="${-pi}" h_max_angle="0" 
+                  h_samples="640" h_res="1.0" h_min_angle="${-pi}" h_max_angle="${pi}" 
                   r_min="0.164" r_max="12.0" r_res="0.01">
                   <plugin name="dummy" filename="dummyfile"></plugin>
     </xacro:ray_sensor>