Fiducials not working correctly #96
Description
The raytracing step for fiducial detection scans as far as the maximum range, therefore fiducials that have an obstacle behind them, in range of the sensor, won't be detected. There's a TODO note in the code reflecting this (line 180 in model_fiducial.cc). Is there some reason the max_range_anon couldn't just be replaced with range, which is the distance to the fiducial?
I tested this and it seems to fix the issue. I'm more than happy to create a pull request if this is all that is needed and it doesn't break anything.