[ros-users] Bug in base_assembler.h?

[Jordi Pages]

Hi all,

   I am trying to follow the tutorial
laser_assembler/tutorials/HowToAssembleLaserScans<http://www.ros.org/wiki/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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