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Declare LaserScan parameter data types explicitly #3

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Declare LaserScan parameter data types explicitly #3

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14 changes: 7 additions & 7 deletions particle_filter/particle_filter.py
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Original file line number Diff line number Diff line change
@@ -1,6 +1,6 @@
# MIT License

# Copyright (c) 2020 Hongrui Zheng, Corey Walsh
# Copyright (c) 2020 Hongrui Zheng, Corey Walsh, Chinmay Samak, Tanmay Samak

# Permission is hereby granted, free of charge, to any person obtaining a copy
# of this software and associated documentation files (the 'Software'), to deal
Expand Down Expand Up @@ -319,12 +319,12 @@ def publish_scan(self, angles, ranges):
ls = LaserScan()
ls.header.stamp = self.last_stamp
ls.header.frame_id = '/laser'
ls.angle_min = np.min(angles)
ls.angle_max = np.max(angles)
ls.angle_increment = np.abs(angles[0] - angles[1])
ls.range_min = 0
ls.range_max = np.max(ranges)
ls.ranges = ranges
ls.angle_min = float(np.min(angles))
ls.angle_max = float(np.max(angles))
ls.angle_increment = float(np.abs(angles[0] - angles[1]))
ls.range_min = float(0)
ls.range_max = float(np.max(ranges))
ls.ranges = ranges.tolist()
self.pub_fake_scan.publish(ls)

def lidarCB(self, msg):
Expand Down