As long as you have a source of odometry, the navigation stack should work
fine with the URG-04.  One thing to watch out for is that in large open
spaces, amcl will lose confidence because the shorter-range laser won't
provide much data for matching against the map.

    brian.
On Oct 5, 2010 11:33 PM, "Prasad Dixit" <abhimohpra@gmail.com> wrote:
>
> Hello experts,
> This question is an extension of my thread raised sometime back.
> 1.
> Please let me know what your experience says...
> I am working on indoor robot application, in which i am using only one
> Hokuyo URG-04LX-UG01 sensor. I would like to know that, Is it efficient to
> use only one sensor? can i achieve Localization, Planning and Navigation
> cycle using only single sensor? How effective would be ROS algorithms in
> such case? Do i need any additional supportive sensors like IMU or some
> external Trans-receivers or Vision sensors?
>
> Though I am using Sonar sensors but they are not involved anywhere in
> Navigation process. They are just kept as precautionary measures in case
> obstacle is on some height which is above laser scans.
>
> 2. Is it possible to change the range of the Laser scanner dynamically? Is
> there any parameter for it to set that in ROS?
> For e.g: Suppose my Robot is running in a museum. The robot is mounted
with
> the touch screen on the top (like texai monitor) . A viewer can access the
> screen to get the information. Now my laser will have specific range for
> usual navigation but if user comes in its front the laser then that time
it
> should reduce its range so as not to treat user as an obstacle.
> OR i can have camera to capture face and direct laser to reduce its range.
>
> - Prasad
>
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