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#291 URG-04LX Fix

Unstable
closed-accepted
Brian Gerkey
Player (393)
5
2008-06-17
2008-06-17
No

One parameter in one of the urg structs was not set before using the function GetSensorConfig, namely resolution. GetSensorConfig needs this parameter from before to calculate other parameters. At least, all of this applies to the older firmware of the hokuyo URG-04LX. From what I can see this doesn't break the behavior for the other firmware versions, but I can not check for that.

Thanks,

Federico Ruiz.
I.A.S
Informatik IX.
TU Muenchen.

Discussion

  • Brian Gerkey
    Brian Gerkey
    2008-06-17

    • status: open --> closed-accepted
     
  • Brian Gerkey
    Brian Gerkey
    2008-06-17

    Logged In: YES
    user_id=211013
    Originator: NO

    Applied to SVN trunk. Thanks.

    Note: this sets the resolution to a default value of (360.0/1024.0), prior to calling GetSensorConfig. Depending on the version of the laser, GetSensorConfig may override this value, based on data received from the laser. This behavior is somewhat non-intuitive, and should be fixed / improved in the future.