modelec/modelec-marcel-ROS
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This commit is contained in:
acki
2025-05-27 21:20:58 -04:00
parent 8e44c9b199
commit e80051698c
1 changed files with 6 additions and 0 deletions
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6
src/modelec_strat/src/enemy_manager.cpp
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@@ -101,12 +101,16 @@ namespace Modelec
if (std::isnan(range) || range < msg->range_min || range > msg->range_max)
{
RCLCPP_INFO(this->get_logger(), "Ignoring Lidar point with invalid range: %.2f", range);
angle += msg->angle_increment;
continue;
}
if (range < robot_radius_)
{
RCLCPP_INFO(this->get_logger(), "Ignoring Lidar point too close to robot: range=%.2f", range);
angle += msg->angle_increment;
continue;
}
@@ -122,6 +126,8 @@ namespace Modelec
// Ignore points outside of the table
if (x_global < 0 || x_global > map_width_ || y_global < 0 || y_global > map_height_)
{
RCLCPP_INFO(this->get_logger(), "Lidar point out of bounds: x=%.2f, y=%.2f", x_global, y_global);
angle += msg->angle_increment;
continue;
}