fix lidar mirror issue, taken from linorobot/ldlidar, commit named 'i…

[PaddyCube]

Related to this issue #10
I was able to fix this. The fiy was taken from linorobot/ldlidar repo, which is mostly the same but for ROS2. They also discovered a mirrored laser scan

[AlessioMorale]

Thanks for spotting the issue!
just a note: I think it is better to keep the binary files ( docs/1628055158875552.rar, docs/lidar_uniform_64bit.zip, docs/sdk_ld06_ros.rar) out of the GIT repository.
The application is not really useful in most of the situations (and forces to donwload almost 100MB of stuffs every time you clone this repo). The initial version of the sdk is available in the GIT history for this repo (here)

[AlessioMorale]

Indentation issue

Suggested change

	int index = (int)((output.angle_max - angle) / output.angle_increment);
	int index = (int)((output.angle_max - angle) / output.angle_increment);

[AlessioMorale]

Suggested change

// int index = (int)((angle - output.angle_min) / output.angle_increment); //default, but this is inverted

no need to keep the commented version

[PaddyCube]

Thanks for spotting the issue!
just a note: I think it is better to keep the binary files ( docs/1628055158875552.rar, docs/lidar_uniform_64bit.zip, docs/sdk_ld06_ros.rar) out of the GIT repository.
The application is not really useful in most of the situations (and forces to donwload almost 100MB of stuffs every time you clone this repo). The initial version of the sdk is available in the GIT history for this repo (here)

Hello,
thanks for this info. I took them into my repo as only rare information can be found about this lidar. I've seen docs and examples deleted in past for others, rarely used chinese sensors. But I agree with you that it doesn't make sense to download all of them again and again.