Beam Width and Max Range for VL53L0X ToF Distance Sensor?

asked 2021-07-13 21:55:42 -0500

RobotDreams gravatar image

updated 2021-07-14 08:47:24 -0500

I am writing a ROS2 GoPiGo3 robot distance reading publisher for a VL53L0X TimeOfFlight Infrared Laser Distance Sensor. I need to select what to publish for msg_range.max_range and msg_range.field_of_view.

The spec sheet claims the beam width is 25 degrees and typical max range is 70-80 cm Grey, 120-200+ cm White.

The measured beam width for my sensor is 15 degrees (at 90cm) and measured max_range is about 135cm for an obstacle, and 189cm for a wall (full beam width obstacle). After this range, the sensor returns a value of 300cm.

What should I publish for max_range, and field_of_view?

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Afaik with the VL53L0X you have to be careful because the field of view is different on horizontal and vertical axis.

Possible answer: what ever works best for you

In both cases I personally prefer the smaller value because there is no guarantee for a correct value outside these.

Humpelstilzchen gravatar image Humpelstilzchen  ( 2021-07-15 04:50:53 -0500 )edit