31 lines
1.6 KiB
Plaintext
31 lines
1.6 KiB
Plaintext
# Single scan from a planar laser range-finder
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#
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# If you have another ranging device with different behavior (e.g. a sonar
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# array), please find or create a different message, since applications
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# will make fairly laser-specific assumptions about this data
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std_msgs/Header header # timestamp in the header is the acquisition time of
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# the first ray in the scan.
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#
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# in frame frame_id, angles are measured around
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# the positive Z axis (counterclockwise, if Z is up)
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# with zero angle being forward along the x axis
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float32 angle_min # start angle of the scan [rad]
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float32 angle_max # end angle of the scan [rad]
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float32 angle_increment # angular distance between measurements [rad]
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float32 time_increment # time between measurements [seconds] - if your scanner
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# is moving, this will be used in interpolating position
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# of 3d points
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float32 scan_time # time between scans [seconds]
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float32 range_min # minimum range value [m]
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float32 range_max # maximum range value [m]
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float32[] ranges # range data [m]
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# (Note: values < range_min or > range_max should be discarded)
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float32[] intensities # intensity data [device-specific units]. If your
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# device does not provide intensities, please leave
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# the array empty.
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