Ping360 Minimum Range Question: Can I physically read 0.25m with ROS 2 LaserScan?

Hi @beyza,

You haven’t specified or provided the driver / initialisation code you’re using, so we can’t estimate how it would handle short-distance scans - only guess (which isn’t helpful to you).

The transducer ringing is a radially-diminishing effect, and depends on the transmit amplitude and duration, as well as the receiver sensitivity.

The Ping360 does not determine its own transmission parameters, so they always need to be specified somehow by the user. In the case of Ping Viewer, our recommended application for using the device, there is a built-in relationship that sets the transmit duration automatically, based on the specified scanning range, according to limits recommended by the firmware developer to protect the sonar’s hardware.

As I understand it, the specified minimum range is intended in the context of performing longer range scans (i.e. if you are trying to scan as far as 50m away, then you will not detect things that are very close). It is very rare for someone’s desired scan range to be <1m, but if you know that your tank is smaller than that, and the things you’re expecting to detect will strongly reflect the pulses back to the sonar, then there are some “tricks” that can be applied to reduce the perceived ringing, by reducing the transmit duration, setting the minimum receiver gain, and de-tuning the transmit frequency from the transducer’s resonant peak: