public void onNewMessage(LaserScan message) { LidarScanParameters polarLidarScanParameters = new LidarScanParameters(message.getRanges().length, 1, message.getAngleMin(), message.getAngleMax(), message.getTimeIncrement(), message.getRangeMin(), message.getRangeMax(), message.getScanTime(), message.getHeader().getStamp().totalNsecs()); if (DEBUG) { verifyDataFromGazeboRemainsTheSame(polarLidarScanParameters); } LidarScan polarLidarScan = new LidarScan(polarLidarScanParameters, message.getRanges(),sensorId); newScan(polarLidarScan); }
public void onNewMessage(LaserScan message) { LidarScanParameters polarLidarScanParameters = new LidarScanParameters(message.getRanges().length, 1, message.getAngleMin(), message.getAngleMax(), message.getTimeIncrement(), message.getRangeMin(), message.getRangeMax(), message.getScanTime(), message.getHeader().getStamp().totalNsecs()); if (DEBUG) { verifyDataFromGazeboRemainsTheSame(polarLidarScanParameters); } LidarScan polarLidarScan = new LidarScan(polarLidarScanParameters, message.getRanges(),sensorId); newScan(polarLidarScan); }