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Hi,
I am using the LMS1xx driver package for the LMS100 I have. The scan angle of the laser is 270 degrees. I want to reduce the scan angle of LMS100 to less than 180 degrees. Can the laser filter package do it? Or can it be done from the LMS1xx package itself?
This seems to be a common question. :)
If you dont want to alter the laser driver, you can use the laser_filters package as you already guessed.
Example of how to use this:
<launch>
<node pkg="laser_filters" type="scan_to_scan_filter_chain"
name="laser_filter">
<rosparam command="load" file="laserscan_filter.yaml" />
</node>
</launch>
With laserscan_filter.yaml containing:
scan_filter_chain:
- name: laser_cutoff
type: laser_filters/LaserScanAngularBoundsFilter
params:
lower_angle: -1.60876090527
upper_angle: 1.60876090527
hello, i think that you are using driver here on this page. This package uses libLMS1xx can be found here , if you check LMS1xx.cpp and LMS1xx.h, you will see a config structure called scanCfg which has start angle and stop angle. You will see a function setScanCfg in LMS1xx.cpp that can be used to arrage start and stop angle. You can use these in LMS1xx_node.cpp in LMS1xx package. Hope this helps
Asked: 2013-04-24 23:33:18 -0500
Seen: 1,489 times
Last updated: Apr 25 '13
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