FOV cut functionality fix #555
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- corrected `cut_angle` parameter implementation cutting the FOV from 0 to `cut_angle` radians - added `fov_start_angle` and `fov_end_angle` parameters to define exact scan FOV sector in degrees
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The previous version allowed only to set the
cut_angleparameter cropping the FOV from 0 to n, which I find barely useful. Moreover, its implementation wasn't correct (it actually didn't cut the FOV at all). However, the Velodyne web interface allows for cutting FOV from MIN to MAX angle. This caused disproportion and reduction of publishing frequency.In my case, I needed to cut the FOV of LiDAR from 270 to 90 degrees. Doing so only in the web interface caused the LiDAR to send half number of packets. However, the ROS driver implementation computed
npackets- expected number of packets in one scan assuming 0-360 deg. FOV - based on rotation frequency, then reads the packets from LiDAR in a for loop counting up tonpacketsvalue and only then sending out. As the LiDAR was sending only half of the FOV, the ROS driver would mix up packets from two revolutions together reducing the output frequency by half.In this version, the FOV cut can by set either by
cut_angleparameter cutting from 0 to n radians or by settingfov_start_angleandfov_end_angleparameters defining exact scan sector in degrees.