The hokuyo_node README indicates that this set of parameters is known to work:

Intensity mode off:

cluster: 1
skip: 1
intensity: false
min_ang: -2.2689
max_ang: 2.2689

HOWEVER, skip = 1 results in the UTM-30LX running at 20Hz, not at the 40Hz it is capable of.

If I set skip = 0 for 40Hz operation, what minang and maxang have any of you found to be rock-solid reliable/stable and yet capture the most data without overwhelming the USB bandwidth?

cluster: 1
skip: 0
intensity: false
min_ang: ??????
max_ang: ??????

I have tried using the same minangle and maxangle as before (+/-2.2689), but this occasionally overwhelms the Hokuyo.

Thanks in advance!