slam_toolbox can't build a map using multi-laser output data

[Gavriel-CTO]

• Operating System:
  • Ubuntu 20.04
• Installation type:
  • binaries
• ROS Version
  • ROS1 Noetic
• Version or commit hash:
  • 1.0.7-1focal.20221209.215147
• Laser unit:
  • Clearpath Husky Simulator with HUSKY_UST10_ENABLED=1 and HUSKY_UST10_SECONDARY_ENABLED=1

Steps to reproduce issue

• Enable both virtual lidars
• Add this to launcher:

   <node pkg="ira_laser_tools" name="laserscan_multi_merger" type="laserscan_multi_merger">
    <param name="destination_frame" value="base_link"/>
    <param name="scan_destination_topic" value="/scan"/>
    <param name="laserscan_topics" value ="/front/scan /rear/scan" />
  </node>

Behavior

• I tried to use the output /scan data for slam_toolbox but it couldn't build a map with the data

Additional information

• It is interesting that some of the data is greater than range_max. Is this intended?

gavriel@gavriel-cto:~$ rostopic info scan
Type: sensor_msgs/LaserScan

Publishers: 
 * /laserscan_multi_merger (http://gavriel-cto:45153/)

Subscribers: 
 * /slam_gmapping (http://gavriel-cto:38545/)
 * /rviz (http://gavriel-cto:34577/)
 * /move_base (http://gavriel-cto:33081/)


gavriel@gavriel-cto:~$ rostopic echo scan
header: 
  seq: 799
  stamp: 
    secs: 30
    nsecs: 604000000
  frame_id: "top_plate_link"
angle_min: -2.359999895095825
angle_max: 2.359999895095825
angle_increment: 0.005799999926239252
time_increment: 0.0
scan_time: 0.03333333134651184
range_min: 0.44999998807907104
range_max: 25.0
ranges: [26.0, 26.0, 26.0, 26.0, 26.0, 26.0, 26.0, 26.0, 26.0, 26.0, 26.0, 26.0, 26.0, 26.0, 26.0, 26.0, 26.0, 26.0, 26.0, 26.0, 26.0, 26.0, 26.0, 26.0, 26.0, 26.0, 26.0, 26.0, 26.0, 26.0, 26.0, 26.0, 26.0, 26.0, 26.0, 26.0, 26.0, 26.0, 26.0, 26.0, 26.0, 26.0, 26.0, 26.0, 26.0, 26.0, 26.0, 26.0, 26.0, 26.0, 26.0, 26.0, 26.0, 26.0, 26.0, 26.0, 26.0, 26.0, 26.0, 26.0, 26.0, 26.0, 26.0, 26.0, 26.0, 26.0, 26.0, 26.0, 26.0, 26.0, 26.0, 26.0, 26.0, 26.0, 26.0, 26.0, 26.0, 26.0, 26.0, 26.0, 26.0, 26.0, 26.0, 26.0, 26.0, 26.0, 26.0, 26.0, 26.0, 26.0, 26.0, 26.0, 26.0, 26.0, 26.0, 26.0, 26.0, 26.0, 26.0, 26.0, 26.0, 26.0, 26.0, 26.0, 26.0, 26.0, 26.0, 26.0, 26.0, 26.0, 26.0, 26.0, 26.0, 26.0, 26.0, 26.0, 26.0, 26.0, 26.0, 26.0, 26.0, 26.0, 26.0, 26.0, 26.0, 26.0, 26.0, 26.0, 26.0, 26.0, 26.0, 26.0, 26.0, 26.0, 26.0, 26.0, 26.0, 26.0, 26.0, 26.0, 26.0, 26.0, 26.0, 26.0, 26.0, 26.0, 26.0, 26.0, 26.0, 26.0, 26.0, 26.0, 26.0, 26.0, 26.0, 26.0, 26.0, 26.0, 26.0, 26.0, 26.0, 26.0, 26.0, 26.0, 26.0, 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intensities: []

[IvanVN]

Not sure if it was the same problem I was having (I'm in a ROS2 fork) but in my case it was not working because there was a difference in the expected size of the ranges[] vector between ira_laser_tools and slam_toolbox.

My workaround was simply adding 1 to the calculated ranges_size in this line, from:

uint32_t ranges_size = std::ceil((output->angle_max - output->angle_min) / output->angle_increment);
to

uint32_t ranges_size = std::ceil((output->angle_max - output->angle_min) / output->angle_increment) + 1;

[maker-ATOM]

Decreasing by 1 worked for me as I received,
LaserRangeScan contains 1084 range readings, expected 1083
while using slamtoolbox to generate the map.