X4 laser sensor limited range
After i run command "X4_SENSOR_CONFIG_4=1 roslaunch subt_example team.launch", the range of the laserscan in only coming less than than 1 as also shown by below screenshot:
This was happening for the X2 robot also when i used command: "X2_SENSOR_CONFIG_3=1 roslaunch subt_example team.launch":
But after i replaced the sensor part of the planar_lidar.urdf.xacro file with below code the range is coming fine for X2 robot:
<sensor type="ray" name="${name}">
<pose>0 0 0 0 0 0</pose>
<visualize>false</visualize>
<update_rate>40</update_rate>
<ray>
<scan>
<horizontal>
<samples>720</samples>
<resolution>1</resolution>
<min_angle>-1.570796</min_angle>
<max_angle>1.570796</max_angle>
</horizontal>
</scan>
<range>
<min>0.10</min>
<max>30.0</max>
<resolution>0.01</resolution>
</range>
<noise>
<type>gaussian</type>
<mean>0.0</mean>
<stddev>0.01</stddev>
</noise>
</ray>
<plugin name="gazebo_ros_planar_lidar" filename="libgazebo_ros_laser.so">
<topicName>${topic}</topicName>
<frameName>${name}</frameName>
<robotNamespace>${robot_namespace}</robotNamespace>
</plugin>
</sensor>
But still the range of X4 laser scan is under 1. I am running system with 8 gb ram, 300 gb free HD, ubuntu 18.04, and ros melodic with gazebo 9 as described in catkin install tutorial of this subt repository. But im not using any dedicated nvidia gpu, i'm using i5 3rd gen intel cpu.