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V2.6.5 LRS4xxx scan configuration
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@rostest rostest released this 10 May 09:18
· 169 commits to master since this release
2.6.5
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Learn about vigilant mode.

LRS4xxx configuration of scan rate, angular resolution, min and max angle and frame id in the launch file:

        <param name="frame_id" type="str" value="cloud"/>
        <param name="min_ang" type="double" value="-3.1415926"/>
        <param name="max_ang" type="double" value="3.1415926"/>
        <param name="scan_cfg_list_entry" type="int" value="1"/>
        <!-- Parameter scan_cfg_list_entry can be set to one of the following modes of the LRS4000 table (sets the scan configuration by "sMN mCLsetscancfglist <mode>")        
        Mode Name Interlaced ScanFreq ResultScanFreq Resolution TotalResol FieldOfView        
         1 12.5Hz & 0.040 deg 0x 12.5 Hz 12.5 Hz 0.040 deg 0.040 deg 360 deg
         2 12.5Hz & 0.060 deg 0x 12.5 Hz 12.5 Hz 0.060 deg 0.060 deg 360 deg
         4 12.5Hz & 0.100 deg 0x 12.5 Hz 12.5 Hz 0.100 deg 0.100 deg 360 deg
         5 12.5Hz & 0.120 deg 0x 12.5 Hz 12.5 Hz 0.120 deg 0.120 deg 360 deg
        11 12.5Hz & 0.020 deg 0x 12.5 Hz 12.5 Hz 0.040 deg 0.020 deg 288 deg
        71   25Hz & 0.040 deg 0x   25 Hz   25 Hz 0.080 deg 0.040 deg 288 deg
        61   25Hz & 0.080 deg 0x   25 Hz   25 Hz 0.080 deg 0.080 deg 360 deg
        62   25Hz & 0.120 deg 0x   25 Hz   25 Hz 0.120 deg 0.120 deg 360 deg
        64   25Hz & 0.200 deg 0x   25 Hz   25 Hz 0.200 deg 0.200 deg 360 deg
        65   25Hz & 0.240 deg 0x   25 Hz   25 Hz 0.240 deg 0.240 deg 360 deg
         -->
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