LaserScan in TurtleBot examples

Dear friends,

I tried to experiment with the TurtleBot examples in the related robotics toolbox. The issue that I have is that my laserscan is not similar to the example's picture (Exploring Basic Behavior of the TurtleBot). It is just a line

I don't think that is reasonable for a simulation environment like that

Is something wrong? I just followed the example like

laser = rossubscriber('/scan');
scan = receive(laser,3)
plot(scan);

Answer 1

[Sebastian Castro]

The commands certainly look correct. Have you tried changing the maximum scan range to a nondefault value? For example:

plot(scan,'MaximumRange',10);

Also, what happens as you move/rotate the robot? Do the plots change or stay the same?

- Sebastian

[angelos.p]

Dear Sebastian, thanks for the help. Unfortunately, the plot with changed MaximumRange gave the exactly the same results.

I tried the same commands with the "Gazebo Playground" launch file but noting interesting.

and when I executed the "Obstacle Avoidance using TartleBot" example I got the same bar in the front just moving...

So something goes wrong with the scanning, it cann't be a single line.

The details of my scene looks like...(if this can help)

>> scan = receive(laser,3)

scan = 

    ROS LaserScan message with properties:

         MessageType: 'sensor_msgs/LaserScan'
              Header: [1x1 Header]
            AngleMin: -0.5216
            AngleMax: 0.5243
      AngleIncrement: 0.0016
       TimeIncrement: 0
            ScanTime: 0.0330
            RangeMin: 0.4500
            RangeMax: 10
              Ranges: [640x1 single]
         Intensities: [0x1 single]

    Use showdetails to show the contents of the message

>> showdetails(scan)

    AngleMin       :  -0.5215678811
    AngleMax       :  0.5242763162
    AngleIncrement :  0.00163668883
    TimeIncrement  :  0
    ScanTime       :  0.03299999982
    RangeMin       :  0.4499999881
    RangeMax       :  10
    Ranges         :  [1.152452707, 1.151556969, 1.150663376, 1.14977181, 1.147995353, … 1.154250622, 1.155152678, ]
    Intensities    :  []
    Header            
      Seq     :  205
      FrameId :  /camera_depth_frame
      Stamp      
        Sec  :  184
        Nsec :  840000000