SICK LMS-200 Range and Resolution Settings in ARIA
From MobileRobots Research and Academic Customer Support
The SICK LMS-200 has several options available for range and resolution (linear and angular). These settings are in fact interrelated, along with the reflectance options; a long range is only possible as a trade off versus lower linear resolution and less or no reflector information.
The default setting in ARIA is 32 meters (though even in this mode the useful range may only be around 20 meters, depending on the properties of the objects in the environment), with 1 degree angular resolution and 1mm linear resolution. You can choose different options in the robot parameter file, or via command line arguments:
Use LaserUnitsChoice or -laserUnits to choose linear resolution. The available options are 1mm, 1cm and 10cm. Use 1cm instead of 1mm will give a theoretical maximum of 80 meters.
Use LaserReflectorBitsChoice to change the amount of reflector information. Use the lower value of "1ref" to increase the possible range. The available choices are "1ref", "2ref", and "3ref".
Use LaserIncrementChoice or -laserIncrement to choose angular resolution. The available options are "deg" (1 degree) and "half" (1/2 degree).
