I'm using the sick lms200 and I want to measure both range and reflective data. Using lms2xx_config I've set the measurement mode to 8m and 8 level reflector bits. I ran sicklms and used rostopic echo scan, I can see the values for range, but no values for intensites, its an empty set.

My question is, am I able to in anyway recieve range and reflectivity data on the LMS200 (I know that it does not have fast mode) and if I can then how?

Also can someone explain to me how changing the measurement mode to include reflector bits is suppose to work?

Thanks

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Have you tried rosrun sicktoolbox lms2xx_stream_range_and_reflect PATH [BAUD RATE]? Does it give you intensities?