From b4b0b58f66fef6b7c3cc8446cc78be9af8843891 Mon Sep 17 00:00:00 2001 From: srabiee Date: Mon, 13 May 2019 14:42:20 -0400 Subject: [PATCH 1/2] Fixed the scan time and time increment attributes of the laserscan message to be in seconds. --- src/ydlidar_node.cpp | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/src/ydlidar_node.cpp b/src/ydlidar_node.cpp index 0928258..2ec536b 100644 --- a/src/ydlidar_node.cpp +++ b/src/ydlidar_node.cpp @@ -131,8 +131,8 @@ int main(int argc, char * argv[]) { scan_msg.angle_min = scan.config.min_angle; scan_msg.angle_max = scan.config.max_angle; scan_msg.angle_increment = scan.config.ang_increment; - scan_msg.scan_time = scan.config.scan_time; - scan_msg.time_increment = scan.config.time_increment; + scan_msg.scan_time = scan.config.scan_time/1000000000.0; + scan_msg.time_increment = scan.config.time_increment/1000000000.0; scan_msg.range_min = scan.config.min_range; scan_msg.range_max = scan.config.max_range; From a943481e0ee5f74486c192372e437ca92a407949 Mon Sep 17 00:00:00 2001 From: srabiee Date: Tue, 14 May 2019 17:14:32 -0400 Subject: [PATCH 2/2] Improved code readability. --- src/ydlidar_node.cpp | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/src/ydlidar_node.cpp b/src/ydlidar_node.cpp index 2ec536b..2874cf3 100644 --- a/src/ydlidar_node.cpp +++ b/src/ydlidar_node.cpp @@ -131,8 +131,8 @@ int main(int argc, char * argv[]) { scan_msg.angle_min = scan.config.min_angle; scan_msg.angle_max = scan.config.max_angle; scan_msg.angle_increment = scan.config.ang_increment; - scan_msg.scan_time = scan.config.scan_time/1000000000.0; - scan_msg.time_increment = scan.config.time_increment/1000000000.0; + scan_msg.scan_time = scan.config.scan_time*1e-9; + scan_msg.time_increment = scan.config.time_increment*1e-9; scan_msg.range_min = scan.config.min_range; scan_msg.range_max = scan.config.max_range;