Merge pull request #443 from mbeutelspacher/fix/scan_unifier_negative…

…_angle_increment fix(cob_scan_unifier): fix handeling of negative angle_increments
4am-robotics · Dec 14, 2023 · 4d3eb30 · 4d3eb30
2 parents 1f45be2 + 30e9b22
commit 4d3eb30
Showing 1 changed file with 1 addition and 1 deletion.
diff --git a/cob_scan_unifier/src/scan_unifier_node.cpp b/cob_scan_unifier/src/scan_unifier_node.cpp
@@ -254,7 +254,7 @@ 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 = current_scans.front()->angle_increment;
+    unified_scan.angle_increment = std::abs(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 = current_scans.front()->time_increment;