Using lds-50c-c20e-r laser head, gmapping reports an error: Assertion ‘beams

This is because the actual number of laser scanning points is more than the set 2048. Therefore, in the file directory openslam_Gmapping/include/gmapping/scanmatcher/scanmatcher.H file, #define laser_Maxbeams 2048 can be set larger than the actual number of laser points.

Recompile after modification.

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