> One thing to keep in mind is that if you log intensity you might slow down the rate at which the data comes in (40Hz -> 
> 20Hz or something). At least that used to be the case with older firmwares... Blaise might be able to provide more 
> information.

Depends on your angular range and your cluster settings. If there is too
much data per line, you'll get missed lines and your scan rate will
drop, you'll get data from two consecutive scans mixed, and worst case
the hokuyo will crash and need a power-cycle. To get any of these bad
things to happen you will have to use the option that allows unsafe
settings. 

Blaise