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LMS151: add support for 25Hz/0.5° and 25Hz/0.25° #39

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LMS151: add support for 25Hz/0.5° and 25Hz/0.25° #39

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22 changes: 9 additions & 13 deletions src/LMS1xx_node.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -34,7 +34,6 @@ int main(int argc, char **argv)
// laser data
LMS1xx laser;
scanCfg cfg;
scanOutputRange outputRange;
scanDataCfg dataCfg;
sensor_msgs::LaserScan scan_msg;

Expand Down Expand Up @@ -66,9 +65,8 @@ int main(int argc, char **argv)
ROS_DEBUG("Logging in to laser.");
laser.login();
cfg = laser.getScanCfg();
outputRange = laser.getScanOutputRange();

if (cfg.scaningFrequency != 5000)
if (cfg.scaningFrequency != 5000 && cfg.scaningFrequency != 2500)
{
laser.disconnect();
ROS_WARN("Unable to get laser output range. Retrying.");
Expand All @@ -80,23 +78,21 @@ int main(int argc, char **argv)

ROS_DEBUG("Laser configuration: scaningFrequency %d, angleResolution %d, startAngle %d, stopAngle %d",
cfg.scaningFrequency, cfg.angleResolution, cfg.startAngle, cfg.stopAngle);
ROS_DEBUG("Laser output range:angleResolution %d, startAngle %d, stopAngle %d",
outputRange.angleResolution, outputRange.startAngle, outputRange.stopAngle);

scan_msg.header.frame_id = frame_id;
scan_msg.range_min = 0.01;
scan_msg.range_max = 20.0;
scan_msg.scan_time = 100.0 / cfg.scaningFrequency;
scan_msg.angle_increment = (double)outputRange.angleResolution / 10000.0 * DEG2RAD;
scan_msg.angle_min = (double)outputRange.startAngle / 10000.0 * DEG2RAD - M_PI / 2;
scan_msg.angle_max = (double)outputRange.stopAngle / 10000.0 * DEG2RAD - M_PI / 2;
scan_msg.angle_increment = (double)cfg.angleResolution / 10000.0 * DEG2RAD;
scan_msg.angle_min = (double)cfg.startAngle / 10000.0 * DEG2RAD - M_PI / 2;
scan_msg.angle_max = (double)cfg.stopAngle / 10000.0 * DEG2RAD - M_PI / 2;

ROS_DEBUG_STREAM("Device resolution is " << (double)outputRange.angleResolution / 10000.0 << " degrees.");
ROS_DEBUG_STREAM("Device resolution is " << (double)cfg.angleResolution / 10000.0 << " degrees.");
ROS_DEBUG_STREAM("Device frequency is " << (double)cfg.scaningFrequency / 100.0 << " Hz");

int angle_range = outputRange.stopAngle - outputRange.startAngle;
int num_values = angle_range / outputRange.angleResolution ;
if (angle_range % outputRange.angleResolution == 0)
int angle_range = cfg.stopAngle - cfg.startAngle;
int num_values = angle_range / cfg.angleResolution ;
if (angle_range % cfg.angleResolution == 0)
{
// Include endpoint
++num_values;
Expand All @@ -105,7 +101,7 @@ int main(int argc, char **argv)
scan_msg.intensities.resize(num_values);

scan_msg.time_increment =
(outputRange.angleResolution / 10000.0)
(cfg.angleResolution / 10000.0)
/ 360.0
/ (cfg.scaningFrequency / 100.0);

Expand Down