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Slamtec / rplidar_ros

BSD 2-Clause "Simplified" License
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Sensitivity for scan #6

Open yoann-solana opened 5 years ago

yoann-solana commented 5 years ago

Hi,

I am using several RPLIDAR A3 and I would like to use the sensitivity for a specific application. I have done a quick test by using the scan_mode = Sensitivity in the launch file but the returned values are not correct. It is always 0 for a measure greater than the max range and 47 for a measure below. My launch file is based on the "rplidar_a3.launch". Do I need to configure something to enable the sensitivity?

Below is a copy of a rostopic echo.

---
header: 
  seq: 3539
  stamp: 
    secs: 1543844624
    nsecs: 706692218
  frame_id: "lidar"
angle_min: -3.12413907051
angle_max: 3.14159274101
angle_increment: 0.00435422640294
time_increment: 5.68295472476e-05
scan_time: 0.0817777216434
range_min: 0.15000000596
range_max: 25.0
ranges: [1.25600004196167, 1.253999948501587,  inf, inf, ..., 1.25600004196167, 1.25600004196167]
intensities: [47.0, 47.0, 0.0, 0.0, ..., 47.0, 47.0]
---

Thanks.

sprajagopal commented 5 years ago

Related issue. I'd like to explore more on this but I'm sure of the data format packet that's received from the actual lidar (assuming the RPLIDAR can actually measure intensities).