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match unity-axis and ros-axis about rays about lidar-2D #25

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match unity-axis and ros-axis about rays about lidar-2D #25

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2 changes: 1 addition & 1 deletion Runtime/Scripts/Sensors/LIDAR/ZOLIDAR2D.cs
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Expand Up @@ -154,7 +154,7 @@ protected override void ZOFixedUpdateHzSynchronized() {
// do raycasts
// TODO: use batch raycasts like the 3d raycast
for (int i = 0; i < _rayCount; i++) {
Vector3 axis = new Vector3(0, MinAngleDegrees - AngleIncrementDegrees * i, 0);
Vector3 axis = new Vector3(0, -1 * MinAngleDegrees - AngleIncrementDegrees * i, 0);
Vector3 direction = Quaternion.Euler(axis) * transform.forward;
_rays[i] = new Ray(transform.position, direction);
_ranges[i] = 0;
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