From b6f30a21994288d2be04cef2f9661b7227c124b8 Mon Sep 17 00:00:00 2001
From: Chris Iverach-Brereton <civerachb@clearpathrobotics.com>
Date: Tue, 30 Jul 2024 17:30:54 -0400
Subject: [PATCH] Limit the simulated RP Lidar to 180 degrees (the max
 supported by the plugin)

---
 turtlebot4_description/urdf/sensors/rplidar.urdf.xacro | 5 ++++-
 1 file changed, 4 insertions(+), 1 deletion(-)

diff --git a/turtlebot4_description/urdf/sensors/rplidar.urdf.xacro b/turtlebot4_description/urdf/sensors/rplidar.urdf.xacro
index f38df73..5e0d5c8 100644
--- a/turtlebot4_description/urdf/sensors/rplidar.urdf.xacro
+++ b/turtlebot4_description/urdf/sensors/rplidar.urdf.xacro
@@ -35,9 +35,12 @@
   </link>
 
   <gazebo reference="${name}_link">
+    <!--
+      GPU Ray sensor plugin only supports 180 degrees, so limig to the front arc only
+    -->
     <xacro:ray_sensor sensor_name="${name}" gazebo="${gazebo}" 
                   update_rate="62.0" visualize="1" 
-                  h_samples="640" h_res="1.0" h_min_angle="${-pi}" h_max_angle="${pi}" 
+                  h_samples="640" h_res="1.0" h_min_angle="${-pi/2}" h_max_angle="${pi/2}" 
                   r_min="0.164" r_max="12.0" r_res="0.01">
                   <plugin name="dummy" filename="dummyfile"></plugin>
     </xacro:ray_sensor>