Merge pull request #2 from rpartsey/patch-1

Fix the laser observation description

Author: btalb

README.md

@@ -137,7 +137,7 @@ If you encounter a task using non-standard channel configurations, the API has a
 | `'image_depth_info'` | <pre>{<br> 'frame_id': string<br> 'height': int<br> 'width': int<br> 'matrix_instrinsics':<br> numpy.ndarray(shape=(3,3),<br> dtype='float64')<br>'matrix_projection':<br> numpy.ndarray(shape=(3,4)<br> dtype='float64')<br>}</pre>                                                                            | Sensor information for the depth image. `'matrix_instrinsics'` is of the format:<br><pre>[fx 0 cx]<br>[0 fy cy]<br>[0 0 1]</pre> for a camera with focal lengths `(fx,fy)`, & principal point `(cx,cy)`. Likewise, `'matrix_projection'` is:<br><pre>[fx 0 cx Tx]<br>[0 fy cy Ty]<br>[0 0 1 0]</pre>where `(Tx,Ty)` is the translation between stereo sensors. See [here](http://docs.ros.org/melodic/api/sensor_msgs/html/msg/CameraInfo.html) for further information on fields. |
 | `'image_rgb'`        | <pre>numpy.ndarray(shape=(H,W,3),<br> dtype='uint8')</pre>                                                                                                                                                                                                                                                      | RGB image from the default image sensor with colour values mapped to the 3 channels, in the 0-255 range.                                                                                                                                                                                                                                                                                                                                                                           |
 | `'image_rgb_info'`   | <pre>{<br> 'frame_id': string<br> 'height': int<br> 'width': int<br> 'matrix_instrinsics':<br> numpy.ndarray(shape=(3,3),<br> dtype='float64')<br>'matrix_projection':<br> numpy.ndarray(shape=(3,4)<br> dtype='float64')<br>}</pre>                                                                            | Sensor information for the RGB image. `'matrix_instrinsics'` is of the format:<br><pre>[fx 0 cx]<br>[0 fy cy]<br>[0 0 1]</pre> for a camera with focal lengths `(fx,fy)`, & principal point `(cx,cy)`. Likewise, `'matrix_projection'` is:<br><pre>[fx 0 cx Tx]<br>[0 fy cy Ty]<br>[0 0 1 0]</pre>where `(Tx,Ty)` is the translation between stereo sensors. See [here](http://docs.ros.org/melodic/api/sensor_msgs/html/msg/CameraInfo.html) for further information on fields.   |
-| `'laser'`            | <pre>{<br> 'range_max': float64,<br> 'range_min': float64,<br> 'scans':<br> numpy.ndarray(shape=(N,2),<br> dtype='float64')<br>}</pre>                                                                                                                                                                          | Set of scan values from a laser sensor, between `'range_min'` & `'range_max'` (in meters). The `'scans'` array consists of `N` scans of format `[scan_angle, scan_value]`. For example, `scans[100,0]` would get the angle of the 100th scan & `scans[100,1]` would get the distance value.                                                                                                                                                                                        |
+| `'laser'`            | <pre>{<br> 'range_max': float64,<br> 'range_min': float64,<br> 'scans':<br> numpy.ndarray(shape=(N,2),<br> dtype='float64')<br>}</pre>                                                                                                                                                                          | Set of scan values from a laser sensor, between `'range_min'` & `'range_max'` (in meters). The `'scans'` array consists of `N` scans of format `[scan_value, scan_angle]`. For example, `scans[100, 0]` would get the distance value & `scans[100, 1]` would get the angle of the 100th scan.                                                                                                                                                                                        |
 | `'poses'`            | <pre>{<br> ...<br> 'frame_name': {<br> 'parent_frame': string<br> 'rotation_rpy':<br> numpy.ndarray(shape=(3,),<br> dtype='float64')<br> 'rotation_xyzw':<br> numpy.ndarray(shape=(4,),<br> dtype='float64')<br> 'translation_xyz':<br> numpy.ndarray(shape=(3,),<br> dtype='float64')<br> }<br> ...<br>}</pre> | Dictionary of relative poses for the current system state. The pose of each system component is available at key `'frame_name'`. Each pose has a `'parent_frame'` which the pose is relative to (all poses are typically with respect to global `'map'` frame), & the pose values. `'rotation_rpy'` is `[roll,pitch,yaw]` in `ZYX` order, `'rotation_xyzw'` is the equivalent quaternion `[x,y,z,w]`, & `'translation_xyz'` is the Cartesion `[x,y,z]` coordinates.                               |
 
 ## Using the API to communicate with the BenchBot system

setup.py

@@ -4,7 +4,7 @@
     long_description = fh.read()
 
 setup(name='benchbot_api',
-      version='2.4.1',
+      version='2.4.2',
       author='Ben Talbot',
       author_email='b.talbot@qut.edu.au',
       description='The BenchBot API for use with the BenchBot software stack',