Hi Jordi,

The lines of code in question seem fine as is.  This loop is simply stepping along the time history of scans until it finds a scan that occurs after the request begin time.  The next while loop in the function then continues stepping along, until it steps past the end of the request.

The tutorial was in fact broken.  I've uploaded a new laser.bag file, and updated the launch file snippets.

Thank for reporting your troubles with this tutorial.  If you are still running into problems, please let me know.

Vijay

On Thu, May 27, 2010 at 9:22 AM, Jordi Pages <jordi.pages@pal-robotics.com> wrote:
Hi all,

   I am trying to follow the tutorial laser_assembler/tutorials/HowToAssembleLaserScans and I can't achieve assembling several laser scans in a unique cloud of points. I am using rosplay to publish pre-recorded data from the bag file laser.bag that can be downloaded from ros webpage. I have been adding trace messages in base_assembler.h and I have the sensation that in the following portion of code in assembleScans callback function

  while ( i < scan_hist_.size() && scan_hist_[i].header.stamp < req.begin )     
  {
    i++ ;
  }

the right part of the while condition should be instead

scan_hist_[i].header.stamp >= req.begin

otherwise I get that no points are assembled because both start_index and past_end_index have the same value and none of the laser scans are selected.

Can anybody check that it is actually a bug? Am I not executing correctly the laser pipeline?

Thanks in adavance

--
Jordi Pages, PhD
Researcher
Pal Robotics S.L.

Tel: +34.93.414.53.47
Fax: +34.93.209.11.09
C/ Pujades 77-79 4º 4ª 08005 Barcelona, Spain.
http://www.pal-robotics.com/

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