TIM551 points have bad coordinates.

[piervito-salvo]

Hi,

We are using the ROS 1 driver on ROS Noetic with a TIM551 Lidar. We are supposed to get measurements from -135° to 135°; instead, when we look at the pointcloud on RVIZ, the points seem to be 360°.

It seems that the 271 points are "stretched" in order to cover the full 360° degrees instead of the the 270°. In the end, the effect is that straight walls are seen as curved lines.

We are using default launch file parameters

Why is this happening?

[rostest]

Thanks for reporting! We corrected the angle settings and updated sick_scan_xd. Please checkout branch feature/angle_correction on https://github.com/SICKAG/sick_scan_xd/tree/feature/angle_correction and rebuild. The branch will soon be merged into the master (release 2.9.1).