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Limit Scan Angle for LMS100

asked 2013-04-24 23:33:18 -0500

arp gravatar image

updated 2014-01-28 17:16:20 -0500

ngrennan gravatar image


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?

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answered 2013-04-25 11:26:48 -0500

Ben_S gravatar image

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:

  <node pkg="laser_filters" type="scan_to_scan_filter_chain"
    <rosparam command="load" file="laserscan_filter.yaml" />

With laserscan_filter.yaml containing:

- name: laser_cutoff
  type: laser_filters/LaserScanAngularBoundsFilter
    lower_angle: -1.60876090527
    upper_angle: 1.60876090527
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Hey, thanks for your answer. It is working. But I couldn't find this plugin in the original documentation. Are there any other set of filters which are not mentioned?

kiran gravatar image kiran  ( 2017-02-03 14:55:54 -0500 )edit

answered 2013-04-25 00:30:33 -0500

cagatay gravatar image

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

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did you get this to work? I tried just reading the config and sending it back to the device. The result was that it did not publish any scans at all

kalectro gravatar image kalectro  ( 2013-07-10 08:07:02 -0500 )edit

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Asked: 2013-04-24 23:33:18 -0500

Seen: 1,179 times

Last updated: Apr 25 '13