How to represent laser scan data in only positive axis?

4 views (last 30 days)
I was using robotics.OccupancyGrid class for simulating exploration by inserting rays.
Now, I am trying to use real robot (turtlebot) with real sensor (kinect) and OccpancyGrid map.
The problem is: the sensor ranges in negative and positive Y-asix. Like that:
But, OccupancyGrid map doesn't represent the negative axis:
For example, when I use raycast and insertRay methods of OccupancyGrid class, it returns me errors that negative values of robot pose and insert rays are not allowed.
What can I do? Is it possible somehow to extend negative axis in OccupancyGrid map?
Kamalova Albina
Kamalova Albina on 19 May 2020
Yes, there are range and angle values..
I solved this problem using buildMap function:

Sign in to comment.

Answers (1)

Remo Pillat
Remo Pillat on 6 Nov 2020
It sounds like Kamalova was able to solve this by using the buildMap function:
Posting this again as an answer.

Community Treasure Hunt

Find the treasures in MATLAB Central and discover how the community can help you!

Start Hunting!

Translated by