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Hokuyo_node Dynamically Reconfigure max_range min_range

asked 2013-09-18 07:38:44 -0500

acp gravatar image

updated 2014-01-28 17:18:00 -0500

ngrennan gravatar image

Dear all.

I just wondering whether it might be possible to dynamically reconfigure the parameters "max_range" and "min_range" of the hokuyo_node.

As far as I can see in the documentation http://wiki.ros.org/hokuyo_node

the previous parameters are just read only.

I would like to filter the "min_range" for instance to 0.20, so the laser can filter all readings less than 0.20.

In advance thank you

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answered 2013-09-18 10:26:34 -0500

Chad Rockey gravatar image

This feature is a bad idea for a driver. Filtering based on range does not save bandwidth or processing, so there's no real advantage here. In fact, there's a real disadvantage if you're logging the data and decide later that you really needed all readings less than 0.15m instead.

It's best to create a node that reads the laser scan, changes it, and republishes it on a different topic. You can then log /scan and generate new configurations of /scan_range_filtered when you play back bagfiles.

/scan -> /scan_range_filtered

Don't forget to use REP 117 if you change the range values. http://www.ros.org/reps/rep-0117.html

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First at all, thank you for your replay. I can see that the hokuyo_node has a parameter called 'use_rep_117' it is set true by default, so I guess is to change this value to false with the following command, 'rosparam set use_rep_117 true', right? what do you mean with log /scan?

acp gravatar imageacp ( 2013-09-18 21:58:41 -0500 )edit
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answered 2013-09-18 08:22:06 -0500

ZdenekM gravatar image

updated 2013-09-18 08:22:37 -0500

You can check dynamically reconfigurable parameters of hokuyo_node here. In current version it's not possible. But this feature should be quite easy to add. Just make fork on github and try to code it ;) I guess that any improvements will be highly appreciated.

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Asked: 2013-09-18 07:38:44 -0500

Seen: 223 times

Last updated: Sep 18 '13