How to enable extension of working range with LD-MRS

[BrunoBerger]

I am trying to use the LD-MRS420201 in a ROS 1 environment.
The documentation states that it is possible to reduce the number of layers from 4 to 2 to increase the horizontal FOV,
but i can't find a way to enable this in the launch file or in the manual

[rostest]

Thanks for your feedback. Please try the LayerRangeReduction, which is configurable by parameter "layer_range_reduction" in the launchfile:
<param name="layer_range_reduction" type="int" value="0"/>
<!-- # gen.add("layer_range_reduction", int_t, 0, "0: Full range, 1: lower 4 reduced, 2: upper 4 reduced, 3: all reduced", 0, 0, 3, edit_method=range_reduction_enum) -->

Alternativaly, you can use SOPAS ET for configuration and permanently save the parameter set on the LD-MRS in the EEPROM (see operation instructions for details).