From 2a37e1db486a6ec487b5bd45d737810bd9233296 Mon Sep 17 00:00:00 2001 From: ZdenekM Date: Wed, 10 Apr 2013 09:18:08 +0200 Subject: [PATCH] Changed angle_min and angle_max according to ROS conventions. --- RCPRG_laser_drivers/LMS1xx/src/LMS1xx_node.cpp | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/RCPRG_laser_drivers/LMS1xx/src/LMS1xx_node.cpp b/RCPRG_laser_drivers/LMS1xx/src/LMS1xx_node.cpp index 692f293..d7f2652 100644 --- a/RCPRG_laser_drivers/LMS1xx/src/LMS1xx_node.cpp +++ b/RCPRG_laser_drivers/LMS1xx/src/LMS1xx_node.cpp @@ -46,8 +46,8 @@ int main(int argc, char **argv) scan_msg.scan_time = 1000.0/cfg.scaningFrequency; scan_msg.angle_increment = cfg.angleResolution/10000.0 * DEG2RAD; - scan_msg.angle_min = cfg.startAngle/10000.0 * DEG2RAD; - scan_msg.angle_max = cfg.stopAngle/10000.0 * DEG2RAD; + scan_msg.angle_min = - ((cfg.stopAngle - cfg.startAngle)/20000.0 * DEG2RAD); + scan_msg.angle_max = (cfg.stopAngle - cfg.startAngle)/20000.0 * DEG2RAD; int num_values; if (cfg.angleResolution == 2500)