[Playerstage-developers] [ playerstage-Bugs-3125434 ] Bug in laserrescan driver

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Bugs item #3125434, was opened at 2010-12-02 12:06
Message generated for change (Tracker Item Submitted) made by black_ivory
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Category: player
Group: None
Status: Open
Resolution: None
Priority: 5
Private: No
Submitted By: Black Ivory (black_ivory)
Assigned to: Brian Gerkey (gerkey)
Summary: Bug in laserrescan driver

Initial Comment:
If the laserrescan-driver is used to generate an interpolated scan with an angle that doesn't completely overlap the angle of the original laser-range-finder it generates values for single beams (the first one) which are over 600 meters.

example:
original scan( min_angle -1,57 max_angle 1,57, scan_count 511)
interpolated scan( min_angle: -1,5708 max_angle: 1,5708 scan_count 181)

This large value produced crashes of other drivers for mapping (usually bad_allocs) 

My solution:
- fixed the bug that produced the really high value (caused by casting from small negative value to unsigned int)
- print a warning of the angles of original and interpolated scan don't overlap completely.

I don't know what format to use for patches so I attached my complete version of laserrescan.cc

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You can respond by visiting: 
https://sourceforge.net/tracker/?func=detail&atid=433164&aid=3125434&group_id=42445