Humble min laser range parameters (#713)

* ignore vscode folder in gitignore

* add min_laser_range feature from parameters in laser_utils.cpp file

* add info related to min_laser_range in README.MD and add sample parameters to all .yaml file in config folder

* Update laser_utils.cpp, fix initial min_laser_range value from 25 to 0.0

.gitignore

@@ -1 +1,2 @@
 snap_ws/*
+.vscode/*

README.md

@@ -248,6 +248,8 @@ The following settings and options are exposed to you. My default configuration
 
 `resolution` - Resolution of the 2D occupancy map to generate
 
+`min_laser_range` - Minimum laser range to use for 2D occupancy map rasterizing
+
 `max_laser_range` - Maximum laser range to use for 2D occupancy map rasterizing
 
 `minimum_time_interval` - The minimum duration of time between scans to be processed in synchronous mode

config/mapper_params_lifelong.yaml

@@ -40,6 +40,7 @@ slam_toolbox:
     transform_publish_period: 0.02 #if 0 never publishes odometry
     map_update_interval: 5.0
     resolution: 0.05
+    min_laser_range: 0.0 #for rastering images
     max_laser_range: 20.0 #for rastering images
     minimum_time_interval: 0.5
     transform_timeout: 0.2

config/mapper_params_localization.yaml

@@ -23,6 +23,7 @@ slam_toolbox:
     transform_publish_period: 0.02 #if 0 never publishes odometry
     map_update_interval: 5.0
     resolution: 0.05
+    min_laser_range: 0.0 #for rastering images
     max_laser_range: 20.0 #for rastering images
     minimum_time_interval: 0.5
     transform_timeout: 0.2

config/mapper_params_offline.yaml

@@ -21,6 +21,7 @@ slam_toolbox:
     transform_publish_period: 0.02 #if 0 never publishes odometry
     map_update_interval: 10.0
     resolution: 0.05
+    min_laser_range: 0.0 #for rastering images
     max_laser_range: 20.0 #for rastering images
     minimum_time_interval: 0.5
     transform_timeout: 0.2

config/mapper_params_online_async.yaml

@@ -29,6 +29,7 @@ slam_toolbox:
     transform_publish_period: 0.02 #if 0 never publishes odometry
     map_update_interval: 5.0
     resolution: 0.05
+    min_laser_range: 0.0 #for rastering images
     max_laser_range: 20.0 #for rastering images
     minimum_time_interval: 0.5
     transform_timeout: 0.2

config/mapper_params_online_sync.yaml

@@ -29,6 +29,7 @@ slam_toolbox:
     transform_publish_period: 0.02 #if 0 never publishes odometry
     map_update_interval: 5.0
     resolution: 0.05
+    min_laser_range: 0.0 #for rastering images
     max_laser_range: 20.0 #for rastering images
     minimum_time_interval: 0.5
     transform_timeout: 0.2

src/laser_utils.cpp

@@ -99,7 +99,28 @@ karto::LaserRangeFinder * LaserAssistant::makeLaser(const double & mountingYaw)
     karto::LaserRangeFinder_Custom, karto::Name("Custom Described Lidar"));
   laser->SetOffsetPose(karto::Pose2(laser_pose_.transform.translation.x,
     laser_pose_.transform.translation.y, mountingYaw));
-  laser->SetMinimumRange(scan_.range_min);
+
+  double min_laser_range = 0.0;
+  if (!node_->has_parameter("min_laser_range")) {
+    node_->declare_parameter("min_laser_range", min_laser_range);
+  }
+  node_->get_parameter("min_laser_range", min_laser_range);
+
+  if (min_laser_range < 0) {
+    RCLCPP_WARN(node_->get_logger(),
+      "You've set minimum laser range to be negative,"
+      "this isn't allowed so it will be set to (%.1f).", scan_.range_min);
+    min_laser_range = scan_.range_min;
+  }
+
+  if (min_laser_range < scan_.range_min) {
+    RCLCPP_WARN(node_->get_logger(),
+      "minimum laser range setting (%.1f m) exceeds the capabilities "
+      "of the used Lidar (%.1f m)", min_laser_range, scan_.range_min);
+    min_laser_range = scan_.range_min;
+  }
+
+  laser->SetMinimumRange(min_laser_range);
   laser->SetMaximumRange(scan_.range_max);
   laser->SetMinimumAngle(scan_.angle_min);
   laser->SetMaximumAngle(scan_.angle_max);