Hi.
In rosject simulation (ROS python for beginners) , i trying to implement logic for wall follow behaviour.
I put robot manually to this position:
Why i get basically the same values in ranges array in position [0,719]?
0 is right side and 719 is left side or wise versa.
But values are almost the same.
ranges: [0.16426317393779755, 0.12282031774520874, 0.1583905816078186, 0.16613420844078064, 0.15408924221992493, 0.15979836881160736, 0.1575811207294464, 0.145925372838974, 0.15636977553367615, 0.1505633294582367, 0.15824435651302338, 0.14968544244766235, 0.1629929095506668, 0.14735735952854156, 0.1433769017457962, 0.16302207112312317, 0.15507175028324127, 0.14415563642978668, 0.1601538211107254, 0.14860869944095612, 0.17460741102695465, 0.14446480572223663, 0.1436244398355484, 0.1562463939189911, 0.1589062213897705, 0.17139576375484467, 0.15633578598499298, 0.18324702978134155, 0.15747316181659698, 0.1766471266746521, 0.1724664270877838, 0.15812340378761292, 0.16123853623867035, 0.16776035726070404, 0.15204937756061554, 0.15767763555049896, 0.15793858468532562, 0.1634598821401596, 0.16335274279117584, 0.15425518155097961, 0.14975138008594513, 0.14047636091709137, 0.16836446523666382, 0.15661194920539856, 0.1693830043077469, 0.16438055038452148, 0.15887026488780975, 0.13717113435268402, 0.17043094336986542, 0.1873224675655365, 0.16047734022140503, 0.176425501704216, 0.17931614816188812, 0.16516849398612976, 0.17267486453056335, 0.1806381195783615, 0.1825580894947052, 0.17732419073581696, 0.1742965131998062, 0.1790362000465393, 0.18636110424995422, 0.1779908984899521, 0.1743042916059494, 0.17661456763744354, 0.19337165355682373, 0.19468627870082855, 0.17848382890224457, 0.18262772262096405, 0.1803973764181137, 0.19613826274871826, 0.1878366470336914, 0.1756793111562729, 0.1863626390695572, 0.1980602890253067, 0.1784997433423996, 0.1844247579574585, 0.20049892365932465, 0.19163545966148376, 0.1963915377855301, 0.19041231274604797, 0.20246689021587372, 0.22053706645965576, 0.20518237352371216, 0.20703840255737305, 0.2214411199092865, 0.19104371964931488, 0.2211594581604004, 0.2118004560470581, 0.22331924736499786, 0.2286112755537033, 0.23106655478477478, 0.1974344402551651, 0.22939646244049072, 0.22032427787780762, 0.22256475687026978, 0.23757687211036682, 0.2518499493598938, 0.2485564798116684, 0.2489093840122223, 0.24199147522449493, 0.24720028042793274, 0.24226067960262299, 0.25004684925079346, 0.2485225796699524, 0.25382211804389954, 0.2585400640964508, 0.25682732462882996, 0.2586534917354584, 0.26812341809272766, 0.29586663842201233, 0.27047717571258545, 0.28628185391426086, 0.26752039790153503, 0.28615617752075195, 0.2858622074127197,0.29108574986457825, 0.29941698908805847, 0.29954493045806885, 0.300920307636261, 0.31125256419181824, 0.3007669448852539, 0.3265434801578522, 0.3148549795150757, 0.3152850568294525, 0.33273985981941223, 0.3261452615261078, 0.35584935545921326, 0.34608298540115356, 0.341802716255188, 0.3603641986846924, 0.37276339530944824, 0.376613974571228, 0.39687228202819824, 0.3741455674171448, 0.3896053433418274, 0.3943216800689697, 0.3711203932762146, 0.3744230568408966, 0.38161537051200867, 0.3906962275505066, 0.38155174255371094, 0.3987511992454529, 0.38535192608833313, 0.3629525899887085, 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0.35281577706336975, 0.3574458956718445, 0.3509657382965088, 0.3537388741970062, 0.37246087193489075, 0.35984647274017334, 0.3579210042953491, 0.35028329491615295, 0.3460293114185333, 0.3547199070453644, 0.36657625436782837, 0.37434154748916626, 0.366271436214447, 0.3729560673236847, 0.37635037302970886, 0.3570979833602905, 0.3641752004623413, 0.3779758810997009, 0.3864559829235077, 0.38607531785964966, 0.3613997995853424, 0.38494300842285156, 0.39447447657585144, 0.3756820261478424, 0.37325456738471985, 0.38881558179855347, 0.3810097575187683, 0.3715474605560303, 0.36845484375953674, 0.3947966396808624, 0.3929617702960968, 0.38801759481430054, 0.39563167095184326, 0.38931506872177124, 0.39345240592956543, 0.3875294029712677, 0.38892504572868347, 0.3953150808811188, 0.37750867009162903, 0.39603325724601746, 0.38846737146377563, 0.3908909559249878, 0.40148472785949707, 0.4058919847011566, 0.4029568135738373, 0.42166396975517273, 0.40801501274108887, 0.4191208779811859, 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is there a way to reset lidar in simulation or i’m doing something wrong?
Because in this position the readings should be something like this:
ranges[0] = 0.2
ranges[719] = 1.1
Okay one more example
And here is the readings of lidar:
ranges: [1.9829028844833374, 1.9827479124069214, 1.9888962507247925, 1.9955500364303589, 1.9954757690429688, 2.0042989253997803, 1.983382225036621, 1.9722204208374023, 1.9914015531539917, 1.994138240814209, 2.006046772003174, 2.0088136196136475, 1.9867383241653442, 2.007969856262207, 2.021207332611084, 2.0064070224761963, 2.01648211479187, 2.0141801834106445, 2.0181453227996826, 2.033906936645508, 2.038813352584839, 2.0230765342712402, 2.0314748287200928, 2.0014710426330566, 1.9261130094528198, 1.8763713836669922, 1.8335680961608887, 1.7616267204284668, 1.7162097692489624, 1.654799222946167, 1.6260040998458862, 1.5770865678787231, 1.526052474975586, 1.503665804862976, 1.4634907245635986, 1.4288713932037354, 1.3986276388168335, 1.39053213596344, 1.3452445268630981, 1.3151711225509644, 1.2679662704467773, 1.2638274431228638, 1.2410717010498047, 1.2234691381454468, 1.1893271207809448, 1.174578070640564, 1.1510388851165771, 1.1470445394515991, 1.1027575731277466, 1.0909559726715088, 1.0727269649505615, 1.050595998764038, 1.040653944015503, 1.0192104578018188, 1.0174105167388916, 0.9843888282775879, 0.9716089367866516, 0.9542967677116394, 0.9492002129554749, 0.9334322810173035, 0.9180831909179688, 0.9179427623748779, 0.9108324646949768, 0.9107837677001953, 0.8927192687988281, 0.8738027215003967, 0.8484864234924316, 0.8438124656677246, 0.8480406999588013, 0.8368609547615051, 0.821674108505249, 0.8159099221229553, 0.8189476728439331, 0.8076850175857544, 0.7745498418807983, 0.787354052066803, 0.774662435054779, 0.7716865539550781, 0.7634496092796326, 0.7456997632980347, 0.7501136660575867, 0.71919846534729, 0.7289650440216064, 0.725812554359436, 0.7127871513366699, 0.7040819525718689, 0.7066988348960876, 0.6874324083328247, 0.6729540824890137, 0.6909835338592529, 0.6594186425209045, 0.691000759601593, 0.6770398020744324, 0.6531954407691956, 0.6576645374298096, 0.638517439365387, 0.6569752097129822, 0.6490810513496399, 0.6483480930328369, 0.6475491523742676, 0.6423861980438232, 0.6298350095748901, 0.6237924098968506, 0.627360463142395, 0.618430495262146, 0.6096398234367371, 0.6232791543006897, 0.6104736328125, 0.6119310855865479, 0.5840271711349487, 0.5925642251968384, 0.591325044631958, 0.6014313697814941, 0.584850013256073, 0.6018897891044617, 0.5885224342346191, 0.578383207321167, 0.5815297365188599, 0.5685548782348633, 0.5860652327537537, 0.5834017992019653, 0.5706091523170471, 0.5613982677459717, 0.5381185412406921, 0.5743781924247742, 0.5652109980583191, 0.5558597445487976, 0.555015504360199, 0.5533658862113953, 0.5598106980323792, 0.5538918972015381, 0.5686700344085693, 0.5415765047073364, 0.5400972366333008, 0.5403795838356018, 0.514941394329071, 0.5371574759483337, 0.5463880896568298, 0.5327706336975098, 0.5479491949081421, 0.5234487652778625, 0.5005186796188354, 0.5268654227256775, 0.5225569605827332, 0.5176107287406921, 0.5312589406967163, 0.5172344446182251, 0.5013770461082458, 0.5212530493736267, 0.5518926382064819, 0.5204523801803589, 0.520740270614624, 0.5275703072547913, 0.5114541053771973, 0.5109879970550537, 0.5381961464881897, 0.5311810374259949, 0.4975440800189972, 0.512298583984375, 0.5092265009880066, 0.5053974390029907, 0.4997890293598175, 0.5161603093147278, 0.5047609210014343, 0.5161913633346558, 0.5021006464958191, 0.5070359110832214, 0.5110350847244263, 0.5069456100463867, 0.5071342587471008, 0.5074925422668457, 0.5095878839492798, 0.5072441101074219, 0.5189933776855469, 0.5033747553825378, 0.5140668153762817, 0.5242694616317749, 0.537501335144043, 0.5241416692733765, 0.5137366056442261, 0.5085508227348328, 0.5077141523361206, 0.5109350681304932, 0.49775293469429016, 0.5115739703178406, 0.5204217433929443, 0.5206021070480347, 0.500143826007843, 0.4883657991886139, 0.5212225317955017, 0.5308167934417725, 0.5050472021102905, 0.5092324018478394, 0.492554247379303, 0.4823401868343353, 0.47071728110313416, 0.4344615042209625, 0.41408464312553406, 0.39699676632881165, 0.3712973892688751, 0.38288062810897827, 0.3595699369907379, 0.37882909178733826, 0.342372328042984, 0.3186992108821869, 0.31686270236968994, 0.3194420039653778, 0.3073008060455322, 0.2868856191635132, 0.28163835406303406, 0.27368900179862976, 0.27520909905433655, 0.2722509503364563, 0.25521692633628845, 0.2609217166900635, 0.25371742248535156, 0.24380095303058624, 0.23877784609794617, 0.22431319952011108, 0.21870824694633484, 0.22772809863090515, 0.1990767866373062, 0.2121419906616211, 0.2142806500196457, 0.2234715074300766, 0.21060506999492645, 0.19229133427143097, 0.19979345798492432, 0.17188328504562378, 0.18016870319843292,0.18279285728931427, 0.1620185673236847, 0.17990721762180328, 0.190731942653656, 0.16527144610881805, 0.1512894332408905, 0.16378872096538544, 0.15679672360420227, 0.1699264794588089, 0.1714731603860855, 0.15771272778511047, 0.1611103117465973, 0.15381993353366852, 0.1349300593137741, 0.15874969959259033, 0.13881412148475647, 0.150948166847229, 0.14113843441009521, 0.15082424879074097, 0.1541031002998352, 0.14153052866458893, 0.1411881148815155, 0.13088950514793396, 0.13019119203090668, 0.11999999731779099, 0.1370786726474762, 0.11999999731779099, 0.11999999731779099, 0.13001656532287598, 0.13774333894252777, 0.12355557829141617, 0.11999999731779099, 0.1272515058517456, 0.1220032349228859, 0.11999999731779099, 0.12056052684783936, 0.1322077214717865, 0.14306379854679108, 0.14673832058906555, 0.11999999731779099, 0.12614217400550842, 0.13642118871212006, 0.11999999731779099, 0.1311565786600113, 0.122733935713768, 0.13976222276687622, 0.11999999731779099, 0.12048570066690445, 0.11999999731779099, 0.11999999731779099, 0.12493973225355148, 0.11999999731779099, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, 0.11999999731779099, 0.11999999731779099, 0.11999999731779099, 0.11999999731779099, 0.13430874049663544, 0.13533517718315125, 0.12920963764190674, 0.11999999731779099, 0.13188877701759338, 0.1209525316953659, 0.12471109628677368, 0.1528196930885315, 0.12167096883058548, 0.1288309544324875, 0.14845775067806244, 0.12887360155582428, 0.12903283536434174, 0.12215480208396912, 0.12059547007083893, 0.11999999731779099, 0.12270896881818771, 0.14915436506271362, 0.11999999731779099, 0.1317211389541626, 0.12230201810598373, 0.1561352014541626, 0.13826604187488556, 0.14310598373413086, 0.14405545592308044, 0.13227830827236176, 0.13542580604553223, 0.14369753003120422, 0.13444818556308746, 0.13890911638736725, 0.1466503143310547, 0.15505431592464447, 0.14921687543392181, 0.16189685463905334, 0.1599038988351822, 0.15811534225940704, 0.16704526543617249, 0.15399150550365448, 0.15151849389076233, 0.16033902764320374, 0.15113481879234314, 0.17100965976715088, 0.17164933681488037, 0.15799899399280548, 0.16646260023117065, 0.16467812657356262, 0.17288604378700256, 0.19099856913089752, 0.17421367764472961, 0.18990102410316467, 0.20963653922080994, 0.19148331880569458, 0.20606555044651031, 0.2109449952840805, 0.2124703824520111, 0.20837806165218353, 0.20987679064273834,0.23331202566623688, 0.21395468711853027, 0.23581282794475555, 0.22694450616836548, 0.23932157456874847, 0.23493368923664093, 0.24492476880550385, 0.25884804129600525, 0.2659454047679901, 0.28427940607070923, 0.2980523705482483, 0.27826616168022156, 0.2773396074771881, 0.3065888285636902, 0.3062707483768463, 0.3259899318218231, 0.3348511755466461, 0.339725136756897, 0.34573492407798767, 0.3687468469142914, 0.38733163475990295, 0.38243845105171204, 0.39892953634262085, 0.4375329911708832, 0.43356719613075256, 0.45468592643737793, 0.4824799597263336, 0.5040512084960938, 0.5450989007949829, 0.5632266402244568, 0.56984543800354, 0.6510440707206726, 0.6700459718704224, 0.7118485569953918, 0.7794792056083679, 0.8551554679870605, 0.9474747776985168, 1.0102312564849854, 1.1574586629867554, 1.2742935419082642, 1.3185354471206665, 1.304326057434082, 1.3112062215805054, 1.3045531511306763, 1.312347412109375, 1.3138116598129272, 1.3160051107406616, 1.3248686790466309, 1.2908636331558228, 1.3149921894073486, 1.2998343706130981, 1.334432601928711, 1.3163361549377441, 1.3034048080444336, 1.2901360988616943, 1.3070118427276611, 1.3152625560760498, 1.31201171875, 1.3131375312805176, 1.3080028295516968, 1.295184850692749, 1.3238494396209717, 1.3158453702926636, 1.3250758647918701, 1.3265303373336792, 1.3253875970840454, 1.323801040649414, 1.3277864456176758, 1.325767993927002, 1.325382947921753, 1.335502028465271, 1.3468897342681885, 1.3537472486495972, 1.3403074741363525, 1.3396430015563965, 1.3492023944854736, 1.3356636762619019, 1.3678079843521118, 1.350746512413025, 1.3867466449737549, 1.3520283699035645, 1.384758710861206, 1.3685091733932495, 1.3545974493026733, 1.3873010873794556, 1.3761042356491089, 1.3778973817825317, 1.378489375114441, 1.3949551582336426, 1.4059163331985474, 1.4268958568572998, 1.408172369003296, 1.415573000907898, 1.4255149364471436, 1.4194499254226685, 1.41232168674469, 1.447989583015442, 1.4382610321044922, 1.43593430519104, 1.4602880477905273, 1.476836085319519, 1.4875149726867676, 1.4772528409957886, 1.4841656684875488, 1.5072931051254272, 1.500278115272522, 1.509987473487854, 1.5198744535446167, 1.5350894927978516, 1.5337110757827759, 1.5235711336135864, 1.5372835397720337, 1.5356401205062866, 1.567630648612976, 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1.9885163307189941, 1.9735536575317383, 1.9788089990615845, 1.996616005897522, 1.971922755241394, 1.9928135871887207, 1.9831900596618652, 2.0005998611450195, 1.9873113632202148, 1.9779231548309326, 1.9760410785675049, 1.9751371145248413, 1.9924092292785645, 1.9788753986358643, 1.9839662313461304, 1.9609870910644531, 1.9738786220550537, 1.999812126159668, 1.9798866510391235]
This is part of the message: rostopic echo /scan
And again ranges[0] = 1.98
ranges[719] = 1.97
Maybe i misunderstood some thing??
At first i fink that is 360 degrees lidar but len(msg.ranges) = 720
I’am confused.
Please HELP
