Two Issues regarding BreezySLAM and KheperaIV-bots

[ericRod983]

Hello Professor Levy,

I'm running into some issues with log2pgm.py finalizing the processing of khepera SLAM data. I continue to get an "IndexError: bytearray index out of range" error message toards the end of processing and I'm wondering if I'm even running the correct file for SLAM with Khepera bots???
Below is a snippet of the error:

[####################################100%######################################]2.2267410406694595e+17 5.015176414410081e+17 40116.41555977233
[####################################100%######################################]2.226741040669459e+17 5.0151764144100806e+17 40087.0474383302
[####################################100%######################################]
4791 scans in 8.376872 sec = 571.931841 scans / sec
400 800 400
400 800 400
400 800 400
402 800 16902712068847020
Traceback (most recent call last):
File "log2pgm.py", line 153, in
main()
File "log2pgm.py", line 141, in main
mapbytes[y_pix * MAP_SIZE_PIXELS + x_pix] = 0;
IndexError: bytearray index out of range

Another issue I'm having is when I run ./log2pgm and I do get an image it is only showing the trajectory of the bot and not any of the landmarks/objects. Any idea why I may not be getting any detailed image of objects detected by lidar? See attached image.

I'm using a KheperaIV simulated bot with Lidar (device unknown) but I'm able to collect a .dat file from the experiments; although some of the leftWheel odometry has really large values on order of 10^19. Would this be an error with the bytearray?

Very Respectfully,
Eric Rodriguez