我发现激光扫描的要求是,
-pi到pi,正步,和0度是赛车的前进方向。即
angle_min= -135 * (pi/180); //angle correspond to FIRST beam in scan ( in rad)
angle_max= 135 * (pi/180); //angle correspond to LAST beam in scan ( in rad)
angle_increment =0.25 * (pi/180); // Angular resolution i.e angle between 2 beams
现在我的激光雷达是0到180度。负步长,90度是