removed "scan_inf_is_valid" parameter

launch/azimut3/az3_mapping_robot_nav.launch

@@ -19,10 +19,9 @@
       <param name="cloud_decimation" type="int" value="1"/>                    <!-- we already decimate in memory below -->
       <param name="grid_eroded" type="bool" value="true"/>
       <param name="grid_cell_size" type="double" value="0.05"/>
-      <param name="scan_inf_is_valid" type="bool" value="true"/>
 
       <remap from="odom" to="/base_controller/odom"/>
-      <remap from="scan" to="/scan"/>
+      <remap from="scan" to="/base_scan"/>
       <remap from="mapData" to="mapData"/>
 
       <remap from="rgb/image" to="/camera/rgb/image_rect_color"/>
@@ -80,7 +79,7 @@
 
   <!-- ROS navigation stack move_base -->
   <group ns="planner">
-     <remap from="base_scan" to="/scan"/>
+     <remap from="base_scan" to="/base_scan"/>
      <remap from="obstacles_cloud" to="/obstacles_cloud"/>
      <remap from="ground_cloud" to="/ground_cloud"/>
      <remap from="map" to="/map"/>

src/CoreWrapper.cpp

@@ -90,7 +90,6 @@ CoreWrapper::CoreWrapper(bool deleteDbOnStart) :
 		databasePath_(UDirectory::homeDir()+"/.ros/"+rtabmap::Parameters::getDefaultDatabaseName()),
 		waitForTransform_(false),
 		useActionForGoal_(false),
-		scanInfIsValid_(false),
 		cloudDecimation_(4),
 		cloudMaxDepth_(4.0), // meters
 		cloudVoxelSize_(0.05), // meters
@@ -163,9 +162,6 @@ CoreWrapper::CoreWrapper(bool deleteDbOnStart) :
 	pnh.param("wait_for_transform", waitForTransform_, waitForTransform_);
 	pnh.param("use_action_for_goal", useActionForGoal_, useActionForGoal_);
 
-	// scan stuff
-	pnh.param("scan_inf_is_valid", scanInfIsValid_, scanInfIsValid_);
-
 	// cloud map stuff
 	pnh.param("cloud_decimation", cloudDecimation_, cloudDecimation_);
 	pnh.param("cloud_max_depth", cloudMaxDepth_, cloudMaxDepth_);
@@ -710,27 +706,7 @@ void CoreWrapper::commonDepthCallback(
 		//transform in frameId_ frame
 		sensor_msgs::PointCloud2 scanOut;
 		laser_geometry::LaserProjection projection;
-
+		projection.transformLaserScanToPointCloud(frameId_, *scanMsg, scanOut, tfListener_);
-		if(scanInfIsValid_)
-		{
-			// Filter positive infinities ("Inf"s) to max_range.
-			float epsilon = 0.0001; // a tenth of a millimeter
-			sensor_msgs::LaserScan message = *scanMsg;
-			for( size_t i = 0; i < message.ranges.size(); i++ )
-			{
-				float range = message.ranges[ i ];
-				if( !std::isfinite( range ) && range > 0 )
-				{
-					message.ranges[ i ] = message.range_max - epsilon;
-				}
-			}
-			projection.transformLaserScanToPointCloud(frameId_, message, scanOut, tfListener_);
-		}
-		else
-		{
-			projection.transformLaserScanToPointCloud(frameId_, *scanMsg, scanOut, tfListener_);
-		}
-
 		pcl::PointCloud<pcl::PointXYZ> pclScan;
 		pcl::fromROSMsg(scanOut, pclScan);
 		scan = util3d::laserScanFromPointCloud(pclScan);
@@ -811,27 +787,7 @@ void CoreWrapper::commonStereoCallback(
 		//transform in frameId_ frame
 		sensor_msgs::PointCloud2 scanOut;
 		laser_geometry::LaserProjection projection;
-
+		projection.transformLaserScanToPointCloud(frameId_, *scanMsg, scanOut, tfListener_);
-		if(scanInfIsValid_)
-		{
-			// Filter positive infinities ("Inf"s) to max_range.
-			float epsilon = 0.0001; // a tenth of a millimeter
-			sensor_msgs::LaserScan message = *scanMsg;
-			for( size_t i = 0; i < message.ranges.size(); i++ )
-			{
-				float range = message.ranges[ i ];
-				if( !std::isfinite( range ) && range > 0 )
-				{
-					message.ranges[ i ] = message.range_max - epsilon;
-				}
-			}
-			projection.transformLaserScanToPointCloud(frameId_, message, scanOut, tfListener_);
-		}
-		else
-		{
-			projection.transformLaserScanToPointCloud(frameId_, *scanMsg, scanOut, tfListener_);
-		}
-
 		pcl::PointCloud<pcl::PointXYZ> pclScan;
 		pcl::fromROSMsg(scanOut, pclScan);
 		scan = util3d::laserScanFromPointCloud(pclScan);

src/CoreWrapper.h

@@ -237,7 +237,6 @@ private:
 	bool useActionForGoal_;
 
 	// mapping stuff
-	bool scanInfIsValid_;
 	int cloudDecimation_;
 	double cloudMaxDepth_;
 	double cloudVoxelSize_;