How to represent laser scan data in only positive axis?
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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?