Inconsistent LaserScan data

[moooeeeep]

Your LaserScan publisher seems to publish inconsistent values for the angle range (angle_min and angle_max) and the increment (angle_increment). The angle_max is supposed to be the maximum angle value, but the way the angle increment is calculated here makes it the value of one increment past the last angle. So you'd probably want to set scan.angle_increment = 3.14 / (num_readings - 1); instead (or zero, if you have only one reading).

Note that I have posted a related question here, because I wasn't sure if angle_max really has to have that strict interpretation. Feel free to share your opinion.