Driver inconsistency with X4
RodrigoCatto opened this issue · 0 comments
RodrigoCatto commented
I was trying to run my X4 with slam_toolbox, but when I launched slam_toolbox I kept receiving an error message stating:
LaserRangeScan contains 719 range readings, expected 720
Here is the header of the /scan topic:
header:
seq: 4289
stamp:
secs: 1631644371
nsecs: 564544000
frame_id: "base_scan"
angle_min: -3.14159274101
angle_max: 3.14159274101
angle_increment: 0.00869043637067
time_increment: 0.000199999994948
scan_time: 0.130799993873
range_min: 0.10000000149
range_max: 12.0
I tried with the older package from YDLIDAR/ydlidar_ros and it worked just fine... I realize that angle_increment was a little different:
header:
seq: 128
stamp:
secs: 1631645675
nsecs: 389754000
frame_id: "laser_frame"
angle_min: -3.14159274101
angle_max: 3.14159274101
angle_increment: 0.00873878411949
time_increment: 0.000200000009499
scan_time: 0.130600005388
range_min: 0.10000000149
range_max: 12.0
Do you have any clue why there is this difference?