激光驱动修改

  原驱动代码

    for( std::size_t i=0; i<scandata.distance_data.size(); i++ )
    {
        scanmsg.ranges[i] = float(scandata.distance_data[i])/1000.0f;
        scanmsg.intensities[i] = scandata.amplitude_data[i];
    }
    scan_publisher_.publish(scanmsg);
}

 

修改角度（逆时针）后

  for( std::size_t i=0; i<scandata.distance_data.size(); i++ )
    {
        scanmsg.ranges[i] = float(scandata.distance_data[i])/1000.0f;
        if(i<10||i>(1440-10))
          scanmsg.ranges[i] = std::numeric_limits<float>::infinity();
          scanmsg.intensities[i] = scandata.amplitude_data[i];
    }

          scan_publisher_.publish(scanmsg);
}