Add angle offset parameter to resolve measurement angle and actual direction misalignment - #6
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DSJZS wants to merge 2 commits into
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Add angle offset parameter to resolve measurement angle and actual direction misalignment#6DSJZS wants to merge 2 commits into
DSJZS wants to merge 2 commits into
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…actual direction misalignment - Implemented angle_offset parameter to apply clockwise angle offset for correcting coordinate system alignment - Updated README.md documentation with new parameter usage instructions and examples
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When using the LD14 LiDAR, I found that while the
laser_scan_dirparameter can adjust the scanning direction of the LiDAR, I subsequently discovered that although the scanning direction can be adjusted, it cannot align with my LiDAR coordinate system. In my case, while the LiDAR's scanning direction was correct, there was a consistent 180-degree deviation between the data displayed in RViz2 and the actual environment.To make my robot function properly, I needed to apply a 180-degree clockwise offset to the measured angles while setting the LiDAR to counterclockwise scanning. However, the launch file only provided the option to set the LiDAR's scanning direction (laser_scan_dir), but lacked the ability to apply an angular offset to the measurement data.
Therefore, I have added an
angle_offsetparameter to apply a clockwise offset to the measured angles, with the unit in degrees.我使用LD14时发现使用 laser_scan_dir 参数确实能调整雷达的扫描方向，但是紧接着我就发现扫描方向虽然可以调整，但是不能和我的雷达坐标系对齐(在我这雷达的扫描方向对了，但是在rviz2中发现和实际固定偏差了180度)。
我需要将测量数据的角度顺时针偏置180度然后设置雷达逆时针扫描，我的机器人才能正常工作，但是launch文件中只提供了设置激光雷达扫描方向（laser_scan_dir）的选项，没有提供对测量数据的角度进行偏置的功能。
所以我添加了一个 angle_offset 参数用于顺时针偏置测量的角度，单位为度