I don't have a good feel for what the maximum safe range in intensity
mode is, as it is a pretty rare occurrence. Currently the safe limits
are mainly based on when the data starts to go bad (mixing of scan
lines). Could you try to lower your scan range and see if you get
better stability?

Given that laser crashes seem to be rare, auto-resetting might be a
better option than limiting the range more.

On Thu, Sep 16, 2010 at 9:37 AM, Hai Nguyen <haidai@gmail.com> wrote:
> I don't know what you mean by consuming.  Do you mean that the laser
> gets no information about which ROS nodes are subscribing to it? In
> the reconfigure gui, tilt_hokuyo_node's range is set to -90 (-1.57) to
> +90.  Is a range of 180 deg too unstable to use with intensity mode?