Corrected angle shift parameter for LMS-4xxx

Author: rostest

CHANGELOG.rst

@@ -2,6 +2,10 @@
 Changelog for package sick_scan
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+1.12.1
+-------------------
+* Corrected angle shift parameter for LMS-4xxx
+
 1.12.0
 -------------------
 * bugfix #158 (driver terminates)

driver/src/sick_generic_caller.cpp

@@ -121,7 +121,7 @@
 // 1.7.7: 2020-07-21: barebone quaterion to euler
 #define SICK_GENERIC_MAJOR_VER "1"
 #define SICK_GENERIC_MINOR_VER "12"
-#define SICK_GENERIC_PATCH_LEVEL "0"
+#define SICK_GENERIC_PATCH_LEVEL "1"
 
 #include <algorithm> // for std::min
 

driver/src/sick_generic_parser.cpp

@@ -346,7 +346,7 @@ namespace sick_scan
   {
     return this->maxEvalFields;
   }
-  
+
   void ScannerBasicParam::setMaxEvalFields(int _maxEvalFields)
   {
     this->maxEvalFields = _maxEvalFields;
@@ -514,7 +514,7 @@ namespace sick_scan
         basicParams[i].setScanMirroredAndShifted(false);
         basicParams[i].setUseEvalFields(EVAL_FIELD_UNSUPPORTED);
         basicParams[i].setMaxEvalFields(0);
-        basicParams[i].setScanAngleShift(0);
+        basicParams[i].setScanAngleShift(-M_PI/2);
       }
       if (basicParams[i].getScannerName().compare(SICK_SCANNER_TIM_7XX_NAME) == 0) // TIM_7xx - 1 Layer Scanner
       {
@@ -848,10 +848,10 @@ namespace sick_scan
                                         sensor_msgs::LaserScan &msg, int &numEchos, int &echoMask)
   {
     // echoMask introduced to get a workaround for cfg bug using MRS1104
-		// ros::NodeHandle tmpParam("~");
+        // ros::NodeHandle tmpParam("~");
     bool dumpData = false;
     int verboseLevel = 0;
-		// tmpParam.getParam("verboseLevel", verboseLevel);
+        // tmpParam.getParam("verboseLevel", verboseLevel);
 
     int HEADER_FIELDS = 32;
     char *cur_field;