Robustness with respect to unclear meaning of angle_max in LaserScan message

[moooeeeep]

This post might be relevant to you:

• https://answers.ros.org/question/286695

In order to address this, you could change this line:

laser->SetMaximumAngle(scan->angle_max);

to this:

laser->SetMaximumAngle(scan->angle_min + (scan->ranges.size()-1)*scan->angle_increment);

[lucbettaieb]

I don't understand why this is relevant? Please provide some more context? The two lines are equivalent but scan->angle_max is more straightforward to read.

[moooeeeep]

In practice it's not equivalent. Currently the relation is more like this:

scan->angle_max >= scan->angle_min + (scan->ranges.size()-1)*scan->angle_increment

Therefore open_karto currently produces errors like this when it's used with laser scans published by nodes like pointcloud_to_laserscan that set scan->angle_max larger than the last available angle actually is.

[lucbettaieb]

Gotcha. Sorry for the late response.

You are welcome to open up a pull request with a test included that addresses this problem.