Fixed bug in REson plugin, updated to make norbit swathwidth more rea…

…listic
InvictusUMVs · Mar 19, 2020 · 83666f5 · 83666f5
1 parent 13278c4
commit 83666f5
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Showing 2 changed files with 5 additions and 5 deletions.
diff --git a/src/dsros_reson_plugin.cc b/src/dsros_reson_plugin.cc
@@ -111,7 +111,7 @@ void dsrosRosResonSensor::UpdateChild(const gazebo::common::UpdateInfo &_info) {
         pc_msg.height = 1;
         pc_msg.width = num_beams;
         sensor_msgs::PointCloud2Modifier modifier(pc_msg);
-        modifier.setPointCloud2Fields(4, "x", 1, sensor_msgs::PointField::FLOAT32, "y", 1,
+        modifier.setPointCloud2Fields(3, "x", 1, sensor_msgs::PointField::FLOAT32, "y", 1,
                                     sensor_msgs::PointField::FLOAT32, "z", 1, sensor_msgs::PointField::FLOAT32);
         modifier.resize(num_beams);
         sensor_msgs::PointCloud2Iterator<float> iter_distance(pc_msg, "x");

diff --git a/urdf/norbitWBMS_bathy_sim.xacro b/urdf/norbitWBMS_bathy_sim.xacro
@@ -41,17 +41,17 @@ POSSIBILITY OF SUCH DAMAGE.
         <sensor name="${name}_sensor" type="ray">
             <always_on>1</always_on>
             <pose frame="">${xyz} ${rpy}</pose>
-            <visualize>false</visualize>
+            <visualize>true</visualize>
             <update_rate>5</update_rate>
             <ray>
                 <!-- These are our beams.  They're limited equi-angular, but the distinction probably
                      doesn't matter -->
                 <scan>
                     <horizontal>
-                        <samples>512</samples>
+                        <samples>256</samples>
                         <resolution>0.40</resolution>
-                        <min_angle>-${pi/180*100}</min_angle>
-                        <max_angle>${pi/180*100}</max_angle>
+                        <min_angle>-${pi/180*60}</min_angle>
+                        <max_angle>${pi/180*60}</max_angle>
                     </horizontal>
                 </scan>
                 <range>