How to represent laser scan data in only positive axis?

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?

[Ajay Pattassery]

What is the output of a single scan of your Lidar Range Sensor? Is it range values and corresponding angles in radian?

[Kamalova Albina]

Yes, there are range and angle values..

I solved this problem using buildMap function: https://www.mathworks.com/help/nav/ref/buildmap.html

Answer 1

[Remo Pillat]

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.