Clean up lidar flip param, and re-introduce CI testing for ros1 #94
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…tation and a unit test.
…and into clean-up-lidar-flip-param
* Cases where angle_max < angle_min are now allowed when increment < 0 * Added 'upside_down' flag status to diagnostic message
flatland_plugins/src/laser.cpp
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| @@ -239,7 +239,7 @@ void Laser::ComputeLaserRanges() { | |||
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| // Unqueue all of the future'd results | |||
| const auto reflectance = reflectance_layers_bits_; | |||
| if (flipped_) { | |||
| if (scan_clockwise_) { | |||
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In order for the resultant scan to be equivalent when the scan direction is flipped, we also have to update the angle metrics on the published scans:
new_angle_increment = -1 * og_angle_increment(since we're now winding the opposite direction)new_angle_min = og_angle_min + og_angle_increment * ranges.size()new_angle_max = og_angle_min
flatland_plugins/src/laser.cpp
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| @@ -345,7 +337,7 @@ void Laser::ParseParameters(const YAML::Node& config) { | |||
| rng_ = std::default_random_engine(rd()); | |||
| noise_gen_ = std::normal_distribution<float>(0.0, noise_std_dev_); | |||
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| ROS_DEBUG_NAMED("LaserPlugin", | |||
| ROS_INFO(//"LaserPlugin", | |||
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You may want to print the value of upside_down here too.
| /** | ||
| * Test the laser plugin's ability to flip the scan direction to clockwise works as expected | ||
| */ | ||
| TEST_F(LaserPluginTest, scan_direction_test) { |
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the names of these tests should be updated to reflect the new name of the parameter (upside_down vs flipped)
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Looks good! I tested it on Neo2 and Switch, and everything seems to be in order. I also tried flipping and reversing the scans (not together though). Unfortunately there's a bug in the sector mapper that prevents autonomy from running when using a negative increment...I'll have to look into that.
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