[noetic] LaserScan message are cutted off after 1 meter

[doisyg]

Looks like the following function applies a 1 meter default cuttoff:

rviz/src/rviz/default_plugin/laser_scan_display.cpp

Lines 84 to 85 in 25f377d

	projector_->transformLaserScanToPointCloud(fixed_frame_.toStdString(), *scan, *cloud, *tf,
	laser_geometry::channel_option::Intensity);

If I replace it by :

projector_->transformLaserScanToPointCloud(fixed_frame_.toStdString(), *scan, *cloud, *tf, 60.0,
                                               laser_geometry::channel_option::Intensity);

the problem disappears (or I guess a 60 meters cuttoff is applied)

[doisyg]

By default the range_max value of the LaserScan msg should be used as the cutoff, so maybe a bug here:
https://github.com/ros-perception/laser_geometry/blob/d55d1e297b999b1dd7783665cdc8610b0351a827/include/laser_geometry/laser_geometry.h#L253

[rhaschke]

Looks like, we missed this when migrating from tf1 to tf2, because the old tf-based function isn't available anymore for tf2, but silently shadowed by another one.
We just need to add the -1.0 default cutoff. Could you file a corresponding PR, please?

[doisyg]

#1512

[rhaschke]

Fixed via #1512