Fix wrong scan simulator resolution

examples/waypoint_follow.py

@@ -205,8 +205,8 @@ def render_lookahead_point(self, e):
         Callback to render the lookahead point.
         """
         if self.lookahead_point is not None:
+            points = self.lookahead_point[:2][None]  # shape (1, 2)~
             if self.lookahead_point_render is None:
-                points = self.lookahead_point[:2][None]  # shape (1, 2)
                 self.lookahead_point_render = e.render_points(points, color=(0, 0, 128), size=2)
             else:
                 self.lookahead_point_render.setData(points)
@@ -216,8 +216,8 @@ def render_local_plan(self, e):
         update waypoints being drawn by EnvRenderer
         """
         if self.current_index is not None:
+            points = self.waypoints[self.current_index : self.current_index + 10, :2]
             if self.local_plan_render is None:
-                points = self.waypoints[self.current_index : self.current_index + 10, :2]
                 self.local_plan_render = e.render_lines(points, color=(0, 128, 0), size=1)
             else:
                 self.local_plan_render.updateItems(points)

f1tenth_gym/envs/laser_models.py

@@ -480,7 +480,7 @@ def set_map(self, map: str | Track, map_scale: float = 1.0) -> bool:
         self.map_width = self.map_img.shape[1]
 
         # load map specification
-        self.map_resolution = self.track.spec.resolution * map_scale
+        self.map_resolution = self.track.spec.resolution
         self.origin = self.track.spec.origin
 
         self.orig_x = self.origin[0]