make cob_scan_unifier angle_increment independet by using the info fr…

…om the input scan
ipa320 · May 16, 2023 · 34557b4 · 34557b4
1 parent 8549556
commit 34557b4
Showing 1 changed file with 2 additions and 2 deletions.
diff --git a/cob_scan_unifier/src/scan_unifier_node.cpp b/cob_scan_unifier/src/scan_unifier_node.cpp
@@ -254,10 +254,10 @@ bool ScanUnifierNode::unifyLaserScans(const std::vector<sensor_msgs::LaserScan::
     ROS_DEBUG("Creating message header");
     unified_scan.header = current_scans.front()->header;
     unified_scan.header.frame_id = frame_;
-    unified_scan.angle_increment = M_PI/180.0/2.0;
+    unified_scan.angle_increment = current_scans.front()->angle_increment;
     unified_scan.angle_min = -M_PI + unified_scan.angle_increment*0.01;
     unified_scan.angle_max =  M_PI - unified_scan.angle_increment*0.01;
-    unified_scan.time_increment = 0.0;
+    unified_scan.time_increment = current_scans.front()->time_increment;
     unified_scan.scan_time = current_scans.front()->scan_time;
     unified_scan.range_min = current_scans.front()->range_min;
     unified_scan.range_max = current_scans.front()->range_max;