{"action":"created","issue":{"url":"https://api.github.com/repos/MobileRobots/ros-arnl/issues/12","repository_url":"https://api.github.com/repos/MobileRobots/ros-arnl","labels_url":"https://api.github.com/repos/MobileRobots/ros-arnl/issues/12/labels{/name}","comments_url":"https://api.github.com/repos/MobileRobots/ros-arnl/issues/12/comments","events_url":"https://api.github.com/repos/MobileRobots/ros-arnl/issues/12/events","html_url":"https://github.com/MobileRobots/ros-arnl/issues/12","id":121332701,"number":12,"title":"check LaserFlipped flag when publishing laserscan topic?","user":{"login":"reed-adept","id":3017729,"avatar_url":"https://avatars.githubusercontent.com/u/3017729?v=3","gravatar_id":"","url":"https://api.github.com/users/reed-adept","html_url":"https://github.com/reed-adept","followers_url":"https://api.github.com/users/reed-adept/followers","following_url":"https://api.github.com/users/reed-adept/following{/other_user}","gists_url":"https://api.github.com/users/reed-adept/gists{/gist_id}","starred_url":"https://api.github.com/users/reed-adept/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/reed-adept/subscriptions","organizations_url":"https://api.github.com/users/reed-adept/orgs","repos_url":"https://api.github.com/users/reed-adept/repos","events_url":"https://api.github.com/users/reed-adept/events{/privacy}","received_events_url":"https://api.github.com/users/reed-adept/received_events","type":"User","site_admin":false},"labels":[{"url":"https://api.github.com/repos/MobileRobots/ros-arnl/labels/enhancement","name":"enhancement","color":"84b6eb"},{"url":"https://api.github.com/repos/MobileRobots/ros-arnl/labels/help%20wanted","name":"help wanted","color":"159818"}],"state":"open","locked":false,"assignee":null,"assignees":[],"milestone":null,"comments":2,"created_at":"2015-12-09T20:32:00Z","updated_at":"2016-07-20T22:41:27Z","closed_at":null,"body":""},"comment":{"url":"https://api.github.com/repos/MobileRobots/ros-arnl/issues/comments/234106417","html_url":"https://github.com/MobileRobots/ros-arnl/issues/12#issuecomment-234106417","issue_url":"https://api.github.com/repos/MobileRobots/ros-arnl/issues/12","id":234106417,"user":{"login":"anders29","id":5215033,"avatar_url":"https://avatars.githubusercontent.com/u/5215033?v=3","gravatar_id":"","url":"https://api.github.com/users/anders29","html_url":"https://github.com/anders29","followers_url":"https://api.github.com/users/anders29/followers","following_url":"https://api.github.com/users/anders29/following{/other_user}","gists_url":"https://api.github.com/users/anders29/gists{/gist_id}","starred_url":"https://api.github.com/users/anders29/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/anders29/subscriptions","organizations_url":"https://api.github.com/users/anders29/orgs","repos_url":"https://api.github.com/users/anders29/repos","events_url":"https://api.github.com/users/anders29/events{/privacy}","received_events_url":"https://api.github.com/users/anders29/received_events","type":"User","site_admin":false},"created_at":"2016-07-20T22:41:27Z","updated_at":"2016-07-20T22:41:27Z","body":"Would this work to handle flipped data in LaserPublisher.cpp?\r\n\r\n```\r\nvoid LaserPublisher::publishLaserScan()\r\n{\r\n  laserscan.header.stamp = convertArTimeToROS(laser->getLastReadingTime());\r\n  const std::list<ArSensorReading*> *readings = laser->getRawReadings(); \r\n  assert(readings);\r\n  //printf(\"laserscan: %lu readings\\n\", readings->size());\r\n  \r\n  laserscan.ranges.resize(readings->size());\r\n  \r\n  size_t n = 0;\r\n  if (laser->getFlipped()) {\r\n    for(std::list<ArSensorReading*>::const_reverse_iterator r = readings->rbegin(); r != readings->rend(); ++r)\r\n    {\r\n      assert(*r);\r\n      //printf(\"range %dmm extra %d\\n\", (*r)->getRange(), (*r)->getExtraInt());\r\n      laserscan.ranges[n] = (*r)->getRange() / 1000.0;\r\n      //laserscan.intensities[n] = (*r)->getExtraInt();\r\n      ++n;\r\n    }\r\n  }\r\n  else {\r\n    for(std::list<ArSensorReading*>::const_iterator r = readings->begin(); r != readings->end(); ++r)\r\n    {\r\n      assert(*r);\r\n      //printf(\"range %dmm extra %d\\n\", (*r)->getRange(), (*r)->getExtraInt());\r\n      laserscan.ranges[n] = (*r)->getRange() / 1000.0;\r\n      //laserscan.intensities[n] = (*r)->getExtraInt();\r\n      ++n;\r\n    }\r\n  }\r\n  \r\n  laserscan_pub.publish(laserscan);\r\n}\r\n```"}}
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