Lidar corrections

icpr_robotsimu_results/launch/ernestin.rviz

@@ -224,25 +224,25 @@ Visualization Manager:
   Views:
     Current:
       Class: rviz/ThirdPersonFollower
-      Distance: 5.412103652954102
+      Distance: 7.856199264526367
       Enable Stereo Rendering:
         Stereo Eye Separation: 0.05999999865889549
         Stereo Focal Distance: 1
         Swap Stereo Eyes: false
         Value: false
       Focal Point:
-        X: 2.8566019535064697
-        Y: 1.7196667194366455
-        Z: -3.5762786865234375e-7
+        X: -2.110830545425415
+        Y: 0.02958071231842041
+        Z: 2.318778115295572e-6
       Focal Shape Fixed Size: false
       Focal Shape Size: 0.05000000074505806
       Invert Z Axis: false
       Name: Current View
       Near Clip Distance: 0.009999999776482582
-      Pitch: 0.4273317754268646
+      Pitch: 0.7123321890830994
       Target Frame: camera_link
       Value: ThirdPersonFollower (rviz)
-      Yaw: 0.4281148612499237
+      Yaw: 3.2512989044189453
     Saved: ~
 Window Geometry:
   Displays:

icpr_robotsimu_results/launch/robot_simu_results.launch

  <launch>
-  <arg name="world_name" default="worlds/empty.world"/>
+  <arg name="world_name" default="$(find icpr_robotsimu_results)/worlds/jose.world"/>
   <arg name="xacro_file" default="$(find icpr_robotsimu_results)/urdf/monrobot.urdf.xacro"/>
 
   <param name="robot_description" command="$(find xacro)/xacro '$(arg xacro_file)'"/>

icpr_robotsimu_results/urdf/monrobot.urdf.xacro

@@ -2,7 +2,7 @@
 <robot name="ernestin" xmlns:xacro="http://www.ros.org/wiki/xacro">
 	
 	<xacro:property name="camera_link" value="0.2" /> <!-- Size of square 'camera' box -->
-  <xacro:property name="sensor_size" value="0.2"/>
+  <xacro:property name="sensor_size" value="0.02"/>
 
 	<!--<xacro:include filename="$(find icpr_robotsimu)/urdf/spinning_joint.urdf.xacro"/>-->
   <xacro:include filename="$(find icpr_robotsimu_results)/urdf/monrobot.gazebo"/>