The pointcloud_to_laserscan package in the turtlebot stack provides the cloud_to_scan.cpp nodelet. This program defines the laserscan angular field of view from -90 degrees to +90 degrees (180 total), with a 0.5 degree angular spacing between beams. The Kinect has a field of view of only 55 to 57 degrees. The extra range values on either side of the sensor_msgs::LaserScan message are padded with max_range+1. Is there a technical reason for the extra range values being passed around?
In the amcl_turtlebot launch file, laser_max_beams is defined as value="30". How does this relate to the 110 range readings in the Kinect laserscan message?
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