How to represent laser scan data in only positive axis?

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Kamalova Albina
Kamalova Albina 2020-1-28
回答： Remo Pillat 2020-11-6
I was using robotics.OccupancyGrid class for simulating exploration by inserting rays.
Now, I am trying to use real robot (turtlebot) with real sensor (kinect) and OccpancyGrid map.
The problem is: the sensor ranges in negative and positive Y-asix. Like that:
But, OccupancyGrid map doesn't represent the negative axis:
For example, when I use raycast and insertRay methods of OccupancyGrid class, it returns me errors that negative values of robot pose and insert rays are not allowed.
What can I do? Is it possible somehow to extend negative axis in OccupancyGrid map?
  2 个评论
Ajay Pattassery
Ajay Pattassery 2020-2-19
What is the output of a single scan of your Lidar Range Sensor? Is it range values and corresponding angles in radian?

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回答（1 个）

Remo Pillat
Remo Pillat 2020-11-6
It sounds like Kamalova was able to solve this by using the buildMap function: https://www.mathworks.com/help/nav/ref/buildmap.html.
Posting this again as an answer.

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