ERROR : Got a scan that has FOV 106 smaller that threshold 270

[sandeepdutta]

Hello ,
I have been exploring the use of this package. I am getting the following error.
ERROR extensions/localization/flatscan_localization/grid_search_localizer.cpp@306: Got a scan that has FOV 106.000000 smaller than threshold 270.000000, ignoring this scan.

My scans are clipped not to see the back of the robot , ~300 FOV. The angle ranges in the flat scan does look right from -3.0 to + 3.1.
Sandeep

[ashwinvkNV]

It looks like the FOV is computed to be 106 from the FlatScan msg. Can you please post the FlatScan msg for this error comes up?

Note: min_scan_fov_degrees parameter here: https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_map_localization#ros-parameters

[sandeepdutta]

Hello Ashwin,
Is there a way to capture the scan that caused the problem ? If I capture all scans it will be large.
Sandeep

[ashwinvkNV]

If you can provide a small rosbag + map(.png+.yaml) and launch file, I can try to reproduce this on my end. Then I look into it this issue further.

[sandeepdutta]

sorry about the delay .I have attached a rosbag and the map. Please let me know if you anything else to reproduce.
rosbag.zip

"map.yaml"
image: upper_corridor.png
mode: trinary
resolution: 0.05
origin: [-2.94, -1.64, 0]
negate: 0
occupied_thresh: 0.65
free_thresh: 0.25