Problem with fov of the laserscanner

[alexsimon1]

Hello @jlblancoc ,

i got another problem. If i use a laser scaner with a fov > 180° my map calculated by mrpt 2D graphslam, get distorted (as seen in the picture).

A laserscaner with a fov of 180° dont show these effects.
Are there some special Parameters i should change?

Thank you.

[jlblancoc]

Hi,

Did you already solved it? If not, please provide a small test case:

• bag file
• launch file

to debug this.