- Omniverse: 1.9.8
- Isaac Sim: 2023.1.1
According to RTX Lidar Config Parameters, I set rangeOffset=0.02, nearRangeM=0.1, farRangeM=200.
My python script, json config and rviz2_config are here:
rtx_lidar.zip (12.6 KB)
- run the following command to start rviz2
rviz2 -d rtx_lidar.rviz
- run the sample script to open Isaac Sim
./python.sh standalone_examples/api/omni.isaac.ros2_bridge/rtx_lidar.py
When lidar approaches wall(0.3m approximately), but there are no point cloud on nearest wall.
pic
gif
Using ros2 topic echo to check range_min and range_max:
ros2 topic echo /laser_scan --no-arr
print lidar topic ranges:
class RtxLidar(Node):
def __init__(self, name):
super().__init__(name)
self.sub = self.create_subscription(LaserScan, "laser_scan", self.raw_scan_callback, 1)
def raw_scan_callback(self, msg):
import math
if len(msg.ranges) != 3600 or len(msg.intensities) != 3600:
return
for i in range(360):
angle = msg.angle_min + msg.angle_increment * 10 * i
print("{}: angle = {:.4f} deg, range = {:.3f} m".format(i, angle*180/math.pi, msg.ranges[10 * i]))
exit(1)
and log is:
$ ros2 run ros_tools lidar_reduction
0: angle = -3.0000000834826057 deg, range = 4.4091572761535645 m
1: angle = -2.0000000912289724 deg, range = 4.4196624755859375 m
2: angle = -1.000000098975339 deg, range = 4.435683727264404 m
3: angle = -1.0672170578144923e-07 deg, range = 4.433074474334717 m
4: angle = 0.9999998855319275 deg, range = 4.443605422973633 m
5: angle = 1.9999998777855608 deg, range = 4.4541730880737305 m
6: angle = 2.999999870039194 deg, range = 4.467202186584473 m
7: angle = 3.9999998622928272 deg, range = 4.4793829917907715 m
8: angle = 4.99999985454646 deg, range = 4.490982532501221 m
9: angle = 5.999999846800094 deg, range = 4.510173320770264 m
10: angle = 6.999999839053727 deg, range = 4.527499198913574 m
11: angle = 7.999999831307361 deg, range = 4.549354076385498 m
12: angle = 8.999999823560994 deg, range = 4.567387580871582 m
13: angle = 9.999999815814627 deg, range = 4.590234279632568 m
14: angle = 10.99999980806826 deg, range = 4.6133036613464355 m
15: angle = 11.999999800321893 deg, range = 4.640657424926758 m
16: angle = 12.999999792575526 deg, range = 4.668619632720947 m
17: angle = 13.99999978482916 deg, range = 4.699687957763672 m
18: angle = 14.999999777082794 deg, range = 4.727409362792969 m
19: angle = 15.999999769336426 deg, range = 4.761578559875488 m
20: angle = 16.99999976159006 deg, range = 4.799008846282959 m
21: angle = 17.999999753843692 deg, range = 4.828309059143066 m
22: angle = 18.999999746097327 deg, range = 4.867992401123047 m
23: angle = 19.999999738350958 deg, range = 4.908088684082031 m
24: angle = 20.999999730604593 deg, range = 4.949743747711182 m
25: angle = 21.999999722858227 deg, range = 5.000605583190918 m
26: angle = 22.99999971511186 deg, range = 5.048092365264893 m
27: angle = 23.999999707365493 deg, range = 5.094704627990723 m
28: angle = 24.999999699619124 deg, range = 5.145623207092285 m
29: angle = 25.99999969187276 deg, range = 5.203134536743164 m
30: angle = 26.999999684126394 deg, range = 5.265069484710693 m
31: angle = 27.999999676380025 deg, range = 5.3253607749938965 m
32: angle = 28.99999966863366 deg, range = 5.389645099639893 m
33: angle = 29.99999966088729 deg, range = 5.459303855895996 m
34: angle = 30.999999653140925 deg, range = 5.528759956359863 m
35: angle = 31.99999964539456 deg, range = 5.605615615844727 m
36: angle = 32.999999637648195 deg, range = 5.682932376861572 m
37: angle = 33.99999962990182 deg, range = 5.765249729156494 m
38: angle = 34.99999962215546 deg, range = 5.856197834014893 m
39: angle = 35.99999961440909 deg, range = 5.945066452026367 m
40: angle = 36.999999606662726 deg, range = 6.045656681060791 m
41: angle = 37.99999959891636 deg, range = 6.143741130828857 m
42: angle = 38.99999959116999 deg, range = 6.247842788696289 m
43: angle = 39.99999958342362 deg, range = 6.356949806213379 m
44: angle = 40.99999957567726 deg, range = 6.4711079597473145 m
45: angle = 41.99999956793089 deg, range = 6.601653099060059 m
46: angle = 42.99999956018453 deg, range = 6.735131740570068 m
47: angle = 43.999999552438155 deg, range = 6.872259616851807 m
48: angle = 44.99999954469179 deg, range = 7.02827262878418 m
49: angle = 45.999999536945424 deg, range = 7.172426223754883 m
50: angle = 46.99999952919906 deg, range = 7.344740867614746 m
51: angle = 47.99999952145269 deg, range = 7.518087863922119 m
52: angle = 48.99999951370632 deg, range = 7.713806629180908 m
53: angle = 49.999999505959956 deg, range = 7.905925750732422 m
54: angle = 50.99999949821359 deg, range = 8.110926628112793 m
55: angle = 51.999999490467225 deg, range = 8.344311714172363 m
56: angle = 52.99999948272086 deg, range = 8.527884483337402 m
57: angle = 53.99999947497449 deg, range = 8.654984474182129 m
58: angle = 54.99999946722812 deg, range = 8.70832347869873 m
59: angle = 55.99999945948176 deg, range = 8.70913028717041 m
60: angle = 56.99999945173539 deg, range = 8.685539245605469 m
61: angle = 57.999999443989026 deg, range = 8.630646705627441 m
62: angle = 58.99999943624265 deg, range = 8.560968399047852 m
63: angle = 59.99999942849629 deg, range = 8.492997169494629 m
64: angle = 60.99999942074992 deg, range = 8.522592544555664 m
65: angle = 61.99999941300356 deg, range = 8.457725524902344 m
66: angle = 62.99999940525719 deg, range = 8.402833938598633 m
67: angle = 63.99999939751082 deg, range = 8.351224899291992 m
68: angle = 64.99999938976445 deg, range = 8.294107437133789 m
69: angle = 65.99999938201809 deg, range = 8.241410255432129 m
70: angle = 66.99999937427172 deg, range = 8.20526123046875 m
71: angle = 67.99999936652536 deg, range = 8.160276412963867 m
72: angle = 68.999999358779 deg, range = 8.127263069152832 m
73: angle = 69.99999935103263 deg, range = 8.078950881958008 m
74: angle = 70.99999934328626 deg, range = 8.053003311157227 m
75: angle = 71.99999933553988 deg, range = 8.024829864501953 m
76: angle = 72.99999932779352 deg, range = 7.992626667022705 m
77: angle = 73.99999932004715 deg, range = 7.975007057189941 m
78: angle = 74.99999931230079 deg, range = 7.946870803833008 m
79: angle = 75.99999930455442 deg, range = 7.923430919647217 m
80: angle = 76.99999929680806 deg, range = 7.901453495025635 m
81: angle = 77.99999928906169 deg, range = 7.892487049102783 m
82: angle = 78.99999928131533 deg, range = 7.88107967376709 m
83: angle = 79.99999927356896 deg, range = 7.868655681610107 m
84: angle = 80.9999992658226 deg, range = 7.864287376403809 m
85: angle = 81.99999925807622 deg, range = 7.858685493469238 m
86: angle = 82.99999925032985 deg, range = 7.852197170257568 m
87: angle = 83.99999924258348 deg, range = 7.847066879272461 m
88: angle = 84.99999923483712 deg, range = 7.8507161140441895 m
89: angle = 85.99999922709075 deg, range = 7.851895332336426 m
90: angle = 86.99999921934439 deg, range = 7.866176605224609 m
91: angle = 87.99999921159802 deg, range = 7.862412929534912 m
92: angle = 88.99999920385166 deg, range = 7.877992630004883 m
93: angle = 89.99999919610529 deg, range = 7.89431095123291 m
94: angle = 90.99999918835893 deg, range = 7.91104793548584 m
95: angle = 91.99999918061255 deg, range = 7.927300930023193 m
96: angle = 92.99999917286618 deg, range = 7.953073024749756 m
97: angle = 93.99999916511982 deg, range = 7.9685821533203125 m
98: angle = 94.99999915737345 deg, range = 8.004158020019531 m
99: angle = 95.99999914962709 deg, range = 8.035286903381348 m
100: angle = 96.99999914188072 deg, range = 8.057741165161133 m
101: angle = 97.99999913413436 deg, range = 8.09493350982666 m
102: angle = 98.99999912638799 deg, range = 8.125981330871582 m
103: angle = 99.99999911864163 deg, range = 8.170696258544922 m
104: angle = 100.99999911089526 deg, range = 8.211599349975586 m
105: angle = 101.99999910314888 deg, range = 8.26627254486084 m
106: angle = 102.99999909540252 deg, range = 8.307087898254395 m
107: angle = 103.99999908765615 deg, range = 8.35415267944336 m
108: angle = 104.99999907990978 deg, range = 8.412092208862305 m
109: angle = 105.99999907216342 deg, range = 8.472111701965332 m
110: angle = 106.99999906441705 deg, range = 8.473404884338379 m
111: angle = 107.99999905667069 deg, range = 8.50660228729248 m
112: angle = 108.99999904892432 deg, range = 8.573186874389648 m
113: angle = 109.99999904117796 deg, range = 8.640732765197754 m
114: angle = 110.99999903343159 deg, range = 8.697538375854492 m
115: angle = 111.99999902568521 deg, range = 8.712096214294434 m
116: angle = 112.99999901793885 deg, range = 8.70329475402832 m
117: angle = 113.99999901019248 deg, range = 8.623485565185547 m
118: angle = 114.99999900244612 deg, range = 8.502669334411621 m
119: angle = 115.99999899469975 deg, range = 8.301989555358887 m
120: angle = 116.99999898695339 deg, range = 8.076666831970215 m
121: angle = 117.99999897920702 deg, range = 7.863528251647949 m
122: angle = 118.99999897146066 deg, range = 7.672895908355713 m
123: angle = 119.99999896371429 deg, range = 7.485128402709961 m
124: angle = 120.99999895596792 deg, range = 7.305844306945801 m
125: angle = 121.99999894822155 deg, range = 7.149967670440674 m
126: angle = 122.99999894047518 deg, range = 6.994533538818359 m
127: angle = 123.99999893272881 deg, range = 6.847412586212158 m
128: angle = 124.99999892498245 deg, range = 6.703373432159424 m
129: angle = 125.99999891723608 deg, range = 6.575356960296631 m
130: angle = 126.99999890948972 deg, range = 6.450815200805664 m
131: angle = 127.99999890174335 deg, range = 6.331608772277832 m
132: angle = 128.99999889399697 deg, range = 6.235604763031006 m
133: angle = 129.9999988862506 deg, range = 6.121750831604004 m
134: angle = 130.99999887850424 deg, range = 6.018918514251709 m
135: angle = 131.99999887075788 deg, range = 5.924604892730713 m
136: angle = 132.9999988630115 deg, range = 5.834834098815918 m
137: angle = 133.99999885526515 deg, range = 5.746941089630127 m
138: angle = 134.99999884751878 deg, range = 5.665539264678955 m
139: angle = 135.99999883977242 deg, range = 5.5858001708984375 m
140: angle = 136.99999883202605 deg, range = 5.514975070953369 m
141: angle = 137.9999988242797 deg, range = 5.446858882904053 m
142: angle = 138.99999881653332 deg, range = 5.373868465423584 m
143: angle = 139.99999880878696 deg, range = 5.310905456542969 m
144: angle = 140.9999988010406 deg, range = 5.254843711853027 m
145: angle = 141.99999879329422 deg, range = 5.196666717529297 m
146: angle = 142.99999878554786 deg, range = 5.1381449699401855 m
147: angle = 143.9999987778015 deg, range = 5.086649417877197 m
148: angle = 144.99999877005513 deg, range = 5.037267684936523 m
149: angle = 145.99999876230876 deg, range = 4.989903926849365 m
150: angle = 146.9999987545624 deg, range = 4.942688465118408 m
151: angle = 147.999998746816 deg, range = 4.903164386749268 m
152: angle = 148.99999873906964 deg, range = 4.864126682281494 m
153: angle = 149.99999873132327 deg, range = 4.821514129638672 m
154: angle = 150.9999987235769 deg, range = 4.788079738616943 m
155: angle = 151.99999871583054 deg, range = 4.7512311935424805 m
156: angle = 152.99999870808418 deg, range = 4.717076301574707 m
157: angle = 153.9999987003378 deg, range = 4.693157196044922 m
158: angle = 154.99999869259145 deg, range = 4.667313098907471 m
159: angle = 155.99999868484508 deg, range = 4.633635520935059 m
160: angle = 156.99999867709872 deg, range = 4.6063008308410645 m
161: angle = 157.99999866935235 deg, range = 4.5833916664123535 m
162: angle = 158.99999866160599 deg, range = 4.563281059265137 m
163: angle = 159.99999865385962 deg, range = 4.5454325675964355 m
164: angle = 160.99999864611326 deg, range = 4.527623653411865 m
165: angle = 161.9999986383669 deg, range = 4.504674911499023 m
166: angle = 162.99999863062052 deg, range = 4.492190361022949 m
167: angle = 163.99999862287416 deg, range = 4.478038787841797 m
168: angle = 164.9999986151278 deg, range = 4.464054107666016 m
169: angle = 165.99999860738143 deg, range = 4.452974319458008 m
170: angle = 166.99999859963506 deg, range = 4.439093112945557 m
171: angle = 167.99999859188867 deg, range = 4.431036949157715 m
172: angle = 168.9999985841423 deg, range = 4.435192108154297 m
173: angle = 169.99999857639594 deg, range = 4.415022373199463 m
174: angle = 170.99999856864957 deg, range = 4.402146816253662 m
175: angle = 171.9999985609032 deg, range = 4.385740756988525 m
176: angle = 172.99999855315684 deg, range = 4.36529016494751 m
177: angle = 173.99999854541048 deg, range = 4.331565856933594 m
178: angle = 174.9999985376641 deg, range = 4.2832560539245605 m
179: angle = 175.99999852991775 deg, range = 4.221495628356934 m
180: angle = 176.99999852217138 deg, range = 4.130275249481201 m
181: angle = 177.99999851442502 deg, range = 3.9629967212677 m
182: angle = 178.99999850667865 deg, range = 0.0 m
183: angle = 179.99999849893229 deg, range = 0.0 m
184: angle = 180.99999849118592 deg, range = 2.5024640560150146 m
185: angle = 181.99999848343955 deg, range = 2.198735475540161 m
186: angle = 182.9999984756932 deg, range = 1.956048846244812 m
187: angle = 183.99999846794682 deg, range = 0.0 m
188: angle = 184.99999846020046 deg, range = 0.0 m
189: angle = 185.9999984524541 deg, range = 0.0 m
190: angle = 186.99999844470773 deg, range = 1.3604100942611694 m
191: angle = 187.99999843696133 deg, range = 1.2678302526474 m
192: angle = 188.99999842921497 deg, range = 1.1850767135620117 m
193: angle = 189.9999984214686 deg, range = 1.113898754119873 m
194: angle = 190.99999841372224 deg, range = 1.0498075485229492 m
195: angle = 191.99999840597587 deg, range = 0.9928457736968994 m
196: angle = 192.9999983982295 deg, range = 0.9429933428764343 m
197: angle = 193.99999839048314 deg, range = 0.8990054130554199 m
198: angle = 194.99999838273678 deg, range = 0.8571501970291138 m
199: angle = 195.9999983749904 deg, range = 0.8214725255966187 m
200: angle = 196.99999836724405 deg, range = 0.7865885496139526 m
201: angle = 197.99999835949768 deg, range = 0.7569073438644409 m
202: angle = 198.99999835175132 deg, range = 0.7285102605819702 m
203: angle = 199.99999834400495 deg, range = 0.7028084397315979 m
204: angle = 200.99999833625859 deg, range = 0.6780245304107666 m
205: angle = 201.99999832851222 deg, range = 0.6573352217674255 m
206: angle = 202.99999832076585 deg, range = 0.6353448629379272 m
207: angle = 203.9999983130195 deg, range = 0.6158613562583923 m
208: angle = 204.99999830527312 deg, range = 0.598628044128418 m
209: angle = 205.99999829752676 deg, range = 0.5804415345191956 m
210: angle = 206.9999982897804 deg, range = 0.565813422203064 m
211: angle = 207.999998282034 deg, range = 0.5513830780982971 m
212: angle = 208.99999827428763 deg, range = 0.5373416543006897 m
213: angle = 209.99999826654127 deg, range = 0.5249429941177368 m
214: angle = 210.9999982587949 deg, range = 0.5123779773712158 m
215: angle = 211.99999825104854 deg, range = 0.5003259181976318 m
216: angle = 212.99999824330217 deg, range = 0.48998120427131653 m
217: angle = 213.9999982355558 deg, range = 0.4784124195575714 m
218: angle = 214.99999822780944 deg, range = 0.47036004066467285 m
219: angle = 215.99999822006308 deg, range = 0.4613571763038635 m
220: angle = 216.9999982123167 deg, range = 0.4532247483730316 m
221: angle = 217.99999820457035 deg, range = 0.4526999890804291 m
222: angle = 218.99999819682398 deg, range = 0.4362461566925049 m
223: angle = 219.99999818907762 deg, range = 0.42895209789276123 m
224: angle = 220.99999818133125 deg, range = 0.4218331277370453 m
225: angle = 221.99999817358488 deg, range = 0.41513675451278687 m
226: angle = 222.99999816583852 deg, range = 0.40872740745544434 m
227: angle = 223.99999815809215 deg, range = 0.4021616578102112 m
228: angle = 224.9999981503458 deg, range = 0.0 m
229: angle = 225.99999814259942 deg, range = 0.0 m
230: angle = 226.99999813485306 deg, range = 0.0 m
231: angle = 227.99999812710666 deg, range = 0.0 m
232: angle = 228.9999981193603 deg, range = 0.0 m
233: angle = 229.99999811161393 deg, range = 0.0 m
234: angle = 230.99999810386757 deg, range = 0.0 m
235: angle = 231.9999980961212 deg, range = 0.0 m
236: angle = 232.99999808837484 deg, range = 0.0 m
237: angle = 233.99999808062847 deg, range = 0.0 m
238: angle = 234.9999980728821 deg, range = 0.0 m
239: angle = 235.99999806513574 deg, range = 0.0 m
240: angle = 236.99999805738938 deg, range = 0.0 m
241: angle = 237.999998049643 deg, range = 0.0 m
242: angle = 238.99999804189665 deg, range = 0.0 m
243: angle = 239.99999803415028 deg, range = 0.0 m
244: angle = 240.99999802640392 deg, range = 0.0 m
245: angle = 241.99999801865755 deg, range = 0.0 m
246: angle = 242.99999801091118 deg, range = 0.0 m
247: angle = 243.99999800316482 deg, range = 0.0 m
248: angle = 244.99999799541845 deg, range = 0.0 m
249: angle = 245.9999979876721 deg, range = 0.0 m
250: angle = 246.99999797992572 deg, range = 0.0 m
251: angle = 247.99999797217936 deg, range = 0.0 m
252: angle = 248.99999796443296 deg, range = 0.0 m
253: angle = 249.9999979566866 deg, range = 0.0 m
254: angle = 250.99999794894023 deg, range = 0.0 m
255: angle = 251.99999794119387 deg, range = 0.0 m
256: angle = 252.9999979334475 deg, range = 0.0 m
257: angle = 253.99999792570114 deg, range = 0.0 m
258: angle = 254.99999791795477 deg, range = 0.0 m
259: angle = 255.9999979102084 deg, range = 0.0 m
260: angle = 256.99999790246204 deg, range = 0.0 m
261: angle = 257.9999978947157 deg, range = 0.0 m
262: angle = 258.9999978869693 deg, range = 0.0 m
263: angle = 259.9999978792229 deg, range = 0.0 m
264: angle = 260.9999978714766 deg, range = 0.0 m
265: angle = 261.9999978637302 deg, range = 0.0 m
266: angle = 262.99999785598385 deg, range = 0.0 m
267: angle = 263.99999784823746 deg, range = 0.0 m
268: angle = 264.9999978404911 deg, range = 0.0 m
269: angle = 265.9999978327447 deg, range = 0.0 m
270: angle = 266.9999978249984 deg, range = 0.0 m
271: angle = 267.999997817252 deg, range = 0.0 m
272: angle = 268.99999780950566 deg, range = 0.0 m
273: angle = 269.99999780175926 deg, range = 0.0 m
274: angle = 270.9999977940129 deg, range = 0.0 m
275: angle = 271.99999778626653 deg, range = 0.0 m
276: angle = 272.9999977785202 deg, range = 0.0 m
277: angle = 273.9999977707738 deg, range = 0.0 m
278: angle = 274.99999776302747 deg, range = 0.0 m
279: angle = 275.9999977552811 deg, range = 0.0 m
280: angle = 276.99999774753474 deg, range = 0.0 m
281: angle = 277.99999773978834 deg, range = 0.0 m
282: angle = 278.99999773204195 deg, range = 0.0 m
283: angle = 279.9999977242956 deg, range = 0.0 m
284: angle = 280.9999977165492 deg, range = 0.0 m
285: angle = 281.9999977088029 deg, range = 0.0 m
286: angle = 282.9999977010565 deg, range = 0.0 m
287: angle = 283.99999769331015 deg, range = 0.0 m
288: angle = 284.99999768556376 deg, range = 0.0 m
289: angle = 285.9999976778174 deg, range = 0.0 m
290: angle = 286.999997670071 deg, range = 0.0 m
291: angle = 287.9999976623247 deg, range = 0.0 m
292: angle = 288.9999976545783 deg, range = 0.0 m
293: angle = 289.99999764683196 deg, range = 0.0 m
294: angle = 290.99999763908556 deg, range = 0.0 m
295: angle = 291.9999976313392 deg, range = 0.0 m
296: angle = 292.99999762359283 deg, range = 0.0 m
297: angle = 293.9999976158465 deg, range = 0.0 m
298: angle = 294.9999976081001 deg, range = 0.0 m
299: angle = 295.99999760035377 deg, range = 0.0 m
300: angle = 296.9999975926074 deg, range = 0.0 m
301: angle = 297.99999758486103 deg, range = 0.0 m
302: angle = 298.99999757711464 deg, range = 0.0 m
303: angle = 299.99999756936825 deg, range = 0.0 m
304: angle = 300.9999975616219 deg, range = 0.0 m
305: angle = 301.9999975538755 deg, range = 0.0 m
306: angle = 302.9999975461292 deg, range = 0.0 m
307: angle = 303.9999975383828 deg, range = 0.40360572934150696 m
308: angle = 304.99999753063645 deg, range = 0.4102827310562134 m
309: angle = 305.99999752289006 deg, range = 0.41663679480552673 m
310: angle = 306.9999975151437 deg, range = 0.4234575033187866 m
311: angle = 307.9999975073973 deg, range = 0.4301144778728485 m
312: angle = 308.999997499651 deg, range = 0.43768370151519775 m
313: angle = 309.9999974919046 deg, range = 0.45152369141578674 m
314: angle = 310.99999748415826 deg, range = 0.4544922709465027 m
315: angle = 311.99999747641186 deg, range = 0.4625032842159271 m
316: angle = 312.9999974686655 deg, range = 0.4716532826423645 m
317: angle = 313.99999746091913 deg, range = 0.48104289174079895 m
318: angle = 314.9999974531728 deg, range = 0.49132123589515686 m
319: angle = 315.9999974454264 deg, range = 0.5025227069854736 m
320: angle = 316.99999743768007 deg, range = 0.5137449502944946 m
321: angle = 317.99999742993367 deg, range = 0.5274174213409424 m
322: angle = 318.9999974221873 deg, range = 0.5405052900314331 m
323: angle = 319.99999741444094 deg, range = 0.5535182356834412 m
324: angle = 320.99999740669455 deg, range = 0.5681374073028564 m
325: angle = 321.9999973989482 deg, range = 0.5841915607452393 m
326: angle = 322.9999973912018 deg, range = 0.6020618081092834 m
327: angle = 323.9999973834555 deg, range = 0.619612991809845 m
328: angle = 324.9999973757091 deg, range = 0.638526976108551 m
329: angle = 325.99999736796275 deg, range = 0.659331738948822 m
330: angle = 326.99999736021635 deg, range = 0.6834399700164795 m
331: angle = 327.99999735247 deg, range = 0.7070070505142212 m
332: angle = 328.9999973447236 deg, range = 0.7342389225959778 m
333: angle = 329.9999973369773 deg, range = 0.7621797323226929 m
334: angle = 330.9999973292309 deg, range = 0.7929115891456604 m
335: angle = 331.99999732148456 deg, range = 0.8279311656951904 m
336: angle = 332.99999731373816 deg, range = 0.8654554486274719 m
337: angle = 333.9999973059918 deg, range = 0.9068005681037903 m
338: angle = 334.99999729824543 deg, range = 0.9530764222145081 m
339: angle = 335.9999972904991 deg, range = 1.0061378479003906 m
340: angle = 336.9999972827527 deg, range = 1.060341238975525 m
341: angle = 337.99999727500636 deg, range = 1.130569577217102 m
342: angle = 338.99999726725997 deg, range = 1.2008919715881348 m
343: angle = 339.9999972595136 deg, range = 1.2850362062454224 m
344: angle = 340.99999725176724 deg, range = 1.3833832740783691 m
345: angle = 341.99999724402085 deg, range = 1.4958581924438477 m
346: angle = 342.9999972362745 deg, range = 1.6629524230957031 m
347: angle = 343.9999972285281 deg, range = 1.794944405555725 m
348: angle = 344.9999972207818 deg, range = 1.988878607749939 m
349: angle = 345.9999972130354 deg, range = 2.2464559078216553 m
350: angle = 346.99999720528905 deg, range = 2.5638766288757324 m
351: angle = 347.99999719754265 deg, range = 0.0 m
352: angle = 348.9999971897963 deg, range = 0.0 m
353: angle = 349.9999971820499 deg, range = 4.0092620849609375 m
354: angle = 350.9999971743036 deg, range = 4.154102802276611 m
355: angle = 351.9999971665572 deg, range = 4.234884738922119 m
356: angle = 352.99999715881086 deg, range = 4.290494918823242 m
357: angle = 353.99999715106446 deg, range = 4.3396806716918945 m
358: angle = 354.9999971433181 deg, range = 4.367553234100342 m
359: angle = 355.99999713557173 deg, range = 4.3895344734191895 m
[ros2run]: Process exited with failure 1
It seems that range will be set to 0.0m when range less than 0.4m?
