Laser View: wrong measurements and visualization #384

osrf-migration · 2013-01-12T04:49:52Z

Original report (archived issue) by Thomas Koletschka (Bitbucket: thomasko).

The original report had attachments: laser_bug.png

The range readings shown by the laser viewer seems to either have some constant offset or some bug in how it obtains distances in general. For example for the 30m hokuyo it show's a max range of 30.1m even though it's 30.0m (verified by reading out the actual sensor values with gztopic echo).
You can also measure angles that do not actually exist ... I have not verified whether the angles inside the workspace are all valid but you are able to get angles that are outside the workspace (see attached image).

When looking at the visualization for the 10m hokuyo in the gazebo database which has a 260 degree field of view (which btw is wrong if this laser is supposed to replicate a Hokuyo URG-04LX) you can also see that something is wrong with how the laser scan and measurements are displayed. As you can see in the attached image circle 1 seems to be the center of the drawn scan while circle 2 is the assumed center used for drawing measurements (circle 3 can be ignored I guess as you're not considering the offset of optical center to base).

(this is both in default and laser_vis_fix)

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osrf-migration · 2013-01-12T05:14:12Z

Original comment by Thomas Koletschka (Bitbucket: thomasko).

regarding the range measurement I think the min range is added to the max range which explains the 0.1m and 0.08m offsets for the drc and gazebo db lasers respectively.

osrf-migration · 2013-01-13T23:17:50Z