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CollisionPrevention: changed to resolution of 5 degrees, and adapted tests to reflect the change

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rewrite of obstacle_distance merging methods, and fix of various issues
This commit is contained in:
Claudio Chies
2024-11-14 14:32:59 +01:00
parent 2ef2911c36
commit f41a08aea8
4 changed files with 339 additions and 128 deletions
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2
src/modules/simulation/gz_bridge/GZBridge.cpp
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@@ -816,7 +816,7 @@ void GZBridge::laserScantoLidarSensorCallback(const gz::msgs::LaserScan &scan)
void GZBridge::laserScanCallback(const gz::msgs::LaserScan &scan)
{
static constexpr int SECTOR_SIZE_DEG = 10; // PX4 Collision Prevention only has 36 sectors of 10 degrees each
static constexpr int SECTOR_SIZE_DEG = 5; // PX4 Collision Prevention uses 5 degree sectors
double angle_min_deg = scan.angle_min() * 180 / M_PI;
double angle_step_deg = scan.angle_step() * 180 / M_PI;