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obstacle_layer_laser_undistortion

A modification of costmap_2d::ObstacleLayer witch undistorts laser data from single line lidar.

Configuration

Setup obstacle_layer_laser_undistortion/ObstacleLayerLaserUndistortion instead of costmap_2d::ObstacleLayer for obstacle_layer in local_costmap_params.yaml and global_costmap_params.yaml and add lidar_rotating and lidar_rotation_direction param for each lidar sensor in costmap_common_params.yaml.

  1. lidar_rotating (bool, default: true)
    Whether the lidar is rotating. Mechanical lidars are rotating while solid lidars are not.
  2. lidar_rotation_direction (bool, default: true)
    True for anticlockwise, false for clockwise.