How to represent laser scan data in only positive axis?

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I was using robotics.OccupancyGrid class for simulating exploration by inserting rays.
Now, I am trying to use real robot (turtlebot) with real sensor (kinect) and OccpancyGrid map.
The problem is: the sensor ranges in negative and positive Y-asix. Like that:
But, OccupancyGrid map doesn't represent the negative axis:
For example, when I use raycast and insertRay methods of OccupancyGrid class, it returns me errors that negative values of robot pose and insert rays are not allowed.
What can I do? Is it possible somehow to extend negative axis in OccupancyGrid map?
  2 Comments
Ajay Pattassery
Ajay Pattassery on 19 Feb 2020
What is the output of a single scan of your Lidar Range Sensor? Is it range values and corresponding angles in radian?
Kamalova Albina
Kamalova Albina on 19 May 2020
Yes, there are range and angle values..
I solved this problem using buildMap function: https://www.mathworks.com/help/nav/ref/buildmap.html

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Answers (1)

Remo Pillat
Remo Pillat on 6 Nov 2020
It sounds like Kamalova was able to solve this by using the buildMap function: https://www.mathworks.com/help/nav/ref/buildmap.html.
Posting this again as an answer.

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