From 08e2a550d8f78f3c037e303089be9a07582af33d Mon Sep 17 00:00:00 2001
From: Karsten Knese <karsten.knese@googlemail.com>
Date: Tue, 20 Oct 2015 08:36:50 +0200
Subject: [PATCH 1/2] extend setOutputRange function

---
 include/LMS1xx/LMS1xx.h | 10 ++++++++++
 src/LMS1xx.cpp          | 12 ++++++++++++
 2 files changed, 22 insertions(+)

diff --git a/include/LMS1xx/LMS1xx.h b/include/LMS1xx/LMS1xx.h
index a4b6335..edd2573 100644
--- a/include/LMS1xx/LMS1xx.h
+++ b/include/LMS1xx/LMS1xx.h
@@ -293,6 +293,16 @@ class LMS1xx {
 	*/
 	void setScanDataCfg(const scanDataCfg &cfg);
 
+	/*!
+	* @brief Set output range configuration.
+	* Get output range configuration :
+	* - angle resolution.
+	* - start angle.
+	* - stop angle.
+	* @param cfg structure containing output range configuration.
+	*/
+	void setOutputRange(const scanOutputRange &cfg);
+
 	/*!
 	* @brief Get current output range configuration.
 	* Get output range configuration :
diff --git a/src/LMS1xx.cpp b/src/LMS1xx.cpp
index d03436d..84c466f 100644
--- a/src/LMS1xx.cpp
+++ b/src/LMS1xx.cpp
@@ -187,6 +187,18 @@ void LMS1xx::setScanDataCfg(const scanDataCfg &cfg) {
 	buf[len - 1] = 0;
 }
 
+void LMS1xx::setOutputRange(const scanOutputRange &cfg) {
+	char buf[100];
+	sprintf(buf, "%c%s 1 %X %X %X%c", 0x02, "sWN LMPoutputRange",
+			cfg.angleResolution, cfg.startAngle, cfg.stopAngle, 0x03);
+
+	write(sockDesc, buf, strlen(buf));
+
+	int len = read(sockDesc, buf, 100);
+
+	buf[len - 1] = 0;
+}
+
 scanOutputRange LMS1xx::getScanOutputRange() const {
 	scanOutputRange outputRange;
 	char buf[100];

From 61420b0f3ad7c929d4e3be7ca311578c5bb1d296 Mon Sep 17 00:00:00 2001
From: Karsten Knese <karsten.knese@googlemail.com>
Date: Tue, 20 Oct 2015 11:01:22 +0200
Subject: [PATCH 2/2] disable hardcoded frequence condition

---
 src/LMS1xx_node.cpp | 7 +------
 1 file changed, 1 insertion(+), 6 deletions(-)

diff --git a/src/LMS1xx_node.cpp b/src/LMS1xx_node.cpp
index 9ba2f9b..7b86df8 100644
--- a/src/LMS1xx_node.cpp
+++ b/src/LMS1xx_node.cpp
@@ -45,14 +45,9 @@ int main(int argc, char **argv)
 	outputRange = laser.getScanOutputRange();
       }
 
-      //check if laser is fully initialized, else reconnect
-      //assuming fully initialized => scaningFrequency=5000
-      if (cfg.scaningFrequency != 5000) {
-	laser.disconnect();
 	ROS_INFO("Waiting for laser to initialize...");
-      }
 
-    } while (!laser.isConnected() || cfg.scaningFrequency != 5000);
+    } while (!laser.isConnected());
 
     if (laser.isConnected()) {
       ROS_INFO("Connected to laser.");