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answered 2016-06-15 11:25:21 -0600

joq gravatar image

Changes you make in the device configuration menus are not known to the ROS driver.

Changes you make in the device configuration menus are not known to the ROS driver.

EDIT: as you discovered, the driver has no knowledge of changes you made in the device configuration page.

For example: if you reconfigure the rotational speed, you also need to set the driver's rpm parameter. But, the driver has no parameters for you to notify it that you have changed the device's field of view.

The point cloud generator does provide an alternative via its view_direction and view_width parameters. Those options have some advantages and disadvantages when compared with changing the device configuration:

  • A disadvantage is that the device still needs to send the entire 360 degree field of view, which uses more ethernet bandwidth.
  • An advantage is that the view direction and width can be steered dynamically while the system is running via the various ROS dynamic reconfiguration interfaces.
  • Most of the system-level overhead is converting the raw data to 3D points. That can be reduced by using those parameters intelligently.