In SICK LMS range finder, what does baud rate do and how does it affect sampling rate, frequency of messages being published on /scan topic?
Let the detection angle be θ.
Anglular resolution be α.
Then, anglemin = −θ/2
anglemax = θ/2
angle_increment = α which is angular resolution between two beams.
If the laser scan has frequency of β scans per second then in 1/β second,
1 scan will give g = (θ/α) + 1 beams.
Time increment can be calculated as t_increment = (1/β)/g
Now how does buad rate fit into above calculations?
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