Re: [PlayerStage-Gazebo] Laser interface limit

[Brian G. <ge...@ai...>]

Fournier, Jonathan (AEREX) wrote:

> I'm currently developping a model in Gazebo for a 3D Laser Range Finder
> based on the SickLMS200 
> but with multiple levels of rays.  However, my model is quite limited by the
> maximum number of ranges allowed in the laser interface.
> Is there a reason why the number of maximum readings that may be returned by
> a laser is limited to 401 via the 
> PLAYER_LASER_MAX_SAMPLES global variable ?

Because the SICK LMS 200 can return at most 401 range readings in a 
single scan.  Which is to say, that limit is a bit of a legacy.

How many readings do you need?  Although in principle you can have 
arbitrarily many (well, up to the 2MB message size limit), it makes 
things easier for drivers and clients if there's a known upper limit 
that keeps the messages small enough to be allocated on the stack.

	brian.

-- 
Brian P. Gerkey                    ge...@ai...
Stanford AI Lab                    http://ai.stanford.edu/~gerkey