I have 360 degrees laser coverage around a robot with the data published into a single topic. But because of that I can not tell what laser data reflects right, left, front or back or the robot.
Just wondering if there is a technic for detecting direction from a single universal laser reading ?
Originally posted by sisko on ROS Answers with karma: 247 on 2021-08-05
Post score: 0
if the message is a standard sensor_msgs/LaserScan, there are fields describing the angular coverage of the scan. The ray lengths in the ranges[] array should be ordered sequentially from angle_min up to almost angle_max, sweeping counter-clockwise if you look down from above.
The answer to your question is that, for the standard LaserScan message, angle 0.0 is "forward" in the sensor's own transform frame.
Originally posted by Mike Scheutzow with karma: 4903 on 2021-08-05
This answer was ACCEPTED on the original site
Post score: 1
Comment by sisko on 2021-08-05:
Thank you Mike.
I will look into that.