Publish lidar scan only if there are lidar scan connections #447
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Signed-off-by: Ian Chen <[email protected]>
Signed-off-by: Ian Chen <[email protected]>
ahcorde
requested changes
Jul 15, 2024
| /// outside the detectable range. | ||
| /// NAN values will be clamped to max range. | ||
| /// \return Clamped range value. | ||
| private: double Clamp(double _range) const; |
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why you don't use std::clamp ?
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needed to use special handling for clamping nan and inf values. Used std::clamp inside the function. 5c28cce
Signed-off-by: Ian Chen <[email protected]>
fixed. 5c28cce |
ahcorde
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Signed-off-by: Ian Chen <[email protected]>
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iche033
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Signed-off-by: Ian Chen <[email protected]>
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🦟 Bug fix
Summary
The GpuLidarSensor publishes to 2 topics: 1) lidar scan and 2) points cloud. Previously if the user subscribes to just the point cloud topic, we perform extra computation to pack and publish lidar scans as well. This PR adds an additional check to make sure we don't do extra work when there are not lidar scan subscribers.
In order to make this work, I also had to modify functions for directly accessing lidar scan data. They were accessing the lidar scan msg (which now never gets populated if there are no subscribers), so I modified them to access data from the raw laser buffer instead.
I also fixed the frame id for the lidar scan msg.
Checklist
codecheckpassed (See contributing)Note to maintainers: Remember to use Squash-Merge and edit the commit message to match the pull request summary while retaining
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