scan merger point publishing

[SurendhranV]

Hi there,

I used to have the two rplidars2 model when i use seperately i get the 1300 to 1500 points are publishing for each lidar . but the problem comes when i use the merger i get only 700 to 800 points only is there any possiblities to get the proper result.

Thank you

[mich1342]

Hi @SurendhranV ,

You need to check using rviz to visualize what happened with the points. Some points might me removed due to several reasons:

• Overlay with another point
• Hidden due to config (start and end angle)
• Ignored due to angle increment resolution
• Out of range

[SurendhranV]

i thing may be overlay is the problem, if this is problem what can i do to do for best outcome.

1. i check the start angle and end angle i tune it a lot but it only give the 500 to 720 is the maximum points.
2. angle increment resolution also tuned but there is no big difference.
3. i just used to below 10 of distance so there is no problem in range.

[mich1342]

Could you post your config file and rviz visualizing the laser 1 and laser 2 pointcloud and the final merged laserscan data in different color?

keep in mind that the number of points really depends on the angle increment. 700-800 points indicating 0.5 degree increment (360 / 0.5 = 720).