WLwind / obstacle_layer_laser_undistortion

ObstacleLayer with undistortion for rotating lidars data.

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.