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MapsManager/Grid: Filling unknown space around the last pose using the laser scan parameters

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Mathieu Labbe
2015-05-15 18:04:32 -04:00
parent 927c80d356
commit f9e3ad2f81
3 changed files with 89 additions and 2 deletions
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src/CoreWrapper.cpp
+15
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@@ -705,6 +705,13 @@ void CoreWrapper::commonDepthCallback(
return;
}
// set maps manager laser scan range parameter
mapsManager_.setLaserScanParameters(
scanMsg->range_max,
scanMsg->angle_min,
scanMsg->angle_max,
scanMsg->angle_increment);
//transform in frameId_ frame
sensor_msgs::PointCloud2 scanOut;
laser_geometry::LaserProjection projection;
@@ -825,6 +832,14 @@ void CoreWrapper::commonStereoCallback(
{
return;
}
// set maps manager laser scan range parameter
mapsManager_.setLaserScanParameters(
scanMsg->range_max,
scanMsg->angle_min,
scanMsg->angle_max,
scanMsg->angle_increment);
//transform in frameId_ frame
sensor_msgs::PointCloud2 scanOut;
laser_geometry::LaserProjection projection;