Update lidar_node.cc

Demonmasterlqx · web-flow · commit 87912d2ff9c5 · 2025-04-06T19:20:57.000+08:00
Due to the lidar will get the point cloud of chassis itself, I add a lower bound to correct it

Signed-off-by: Demonmasterlqx &lt;183842220@qq.com&gt;
diff --git a/ionic/tutorials/sensors/lidar_node.cc b/ionic/tutorials/sensors/lidar_node.cc
@@ -33,7 +33,7 @@ void cb(const gz::msgs::LaserScan &_msg)
   bool allMore = true;
   for (int i = 0; i < _msg.ranges_size(); i++)
   {
-    if (_msg.ranges(i) < 1.0) 
+    if (0.85<_msg.ranges(i) && _msg.ranges(i) < 1.5) 
     {
       allMore = false;
       break;

Original file line number	Diff line number	Diff line change
`@@ -33,7 +33,7 @@ void cb(const gz::msgs::LaserScan &_msg)`
`33`	`33`	`bool allMore = true;`
`34`	`34`	`for (int i = 0; i < _msg.ranges_size(); i++)`
`35`	`35`	`{`
`36`		`- if (_msg.ranges(i) < 1.0)`
	`36`	`+ if (0.85<_msg.ranges(i) && _msg.ranges(i) < 1.5)`
`37`	`37`	`{`
`38`	`38`	`allMore = false;`
`39`	`39`	`break;`