sick s300 ros

pioneer lx 和 neobotix 产品使用了sick s300
250°视角还是270°视角？ 500 readings
ros driver
lx 设置 publish_aria_lasers 为true，广播激光数据
http://wiki.ros.org/cob_sick_s300

http://wiki.ros.org/Robots/AMR_Pioneer_Compatible

Section Laser parameters
;  Information about the connection to this laser and its position on the
;  vehicle.
;SectionFlags for Laser parameters: 
LaserAutoConnect true    ; Laser_1 exists and should be automatically connected
                         ; at startup.
LaserX 267               ; Location (in mm) of the laser in X (+ front, - back)
                         ; relative to the robot's idealized center of
                         ; rotation.
LaserY 0                 ; Location (in mm) of the laser in Y (+ left, - right)
                         ; relative to the robot's idealized center of
                         ; rotation.
LaserTh 0.00000          ; range [-180, 180],  Rotation (in deg) of the laser
                         ; (+ counterclockwise, - clockwise).
LaserZ 190               ; minimum 0,  Height (in mm) of the laser from the
                         ; ground. 0 means unknown.
LaserIgnore -135--120 120-135 ; Angles (in deg) at which to ignore readings,
                         ; +/1 one degree. Angles are entered as strings,
                         ; separated by a space.
LaserFlipped true        ; Laser_1 is upside-down.
LaserType s3series       ; Type of laser.
LaserPortType serial422  ; Type of port the laser is on.
LaserPort COM7           ; Port the laser is on.
LaserPowerOutput         ; Power output that controls this laser's power.
LaserStartingBaudChoice 230400 ; StartingBaud for this laser. Leave blank to
                         ; use the default.
LaserAutoBaudChoice      ; AutoBaud for this laser. Leave blank to use the
                         ; default.
LaserPowerControlled false ; When enabled (true), this indicates that the power
                         ; to the laser is controlled by the serial port line.
LaserMaxRange 0          ; Maximum range (in mm) to use for the laser. This
                         ; should be specified only when the range needs to be
                         ; shortened. 0 to use the default range.
LaserCumulativeBufferSize 0 ; Cumulative buffer size to use for the laser. 0 to
                         ; use the default.
LaserStartDegrees        ; Start angle (in deg) for the laser. This may be used
                         ; to constrain the angle. Fractional degrees are
                         ; permitted. Leave blank to use the default.
LaserEndDegrees          ; End angle (in deg) for the laser. This may be used
                         ; to constrain the angle. Fractional degreees are
                         ; permitted. Leave blank to use the default.
LaserDegreesChoice       ; Degrees choice for the laser. This may be used to
                         ; constrain the range. Leave blank to use the default.
LaserIncrement           ; Increment (in deg) for the laser. Fractional degrees
                         ; are permitted. Leave blank to use the default.
LaserIncrementChoice     ; Increment choice for the laser. This may be used to
                         ; increase the increment. Leave blank to use the
                         ; default.
LaserUnitsChoice         ; Units for the laser. This may be used to increase
                         ; the size of the units. Leave blank to use the
                         ; default.
LaserReflectorBitsChoice  ; ReflectorBits for the laser. Leave blank to use the
                         ; default.

激光参数中ignore那一项，说明并没有全部采用激光数据（本体结构挡住光）cob包中有一个filter 包会过滤这部分数据