ROS2 消息格式 MultiEchoLaserScan

文件：sensor_msgs/msg/MultiEchoLaserScan.msg

消息定义

原始消息定义

# Single scan from a multi-echo planar laser range-finder

#

# If you have another ranging device with different behavior (e.g. a sonar

# array), please find or create a different message, since applications

# will make fairly laser-specific assumptions about this data


#std_msgs/Header header # timestamp in the header is the acquisition time of

# # the first ray in the scan.

#

# # in frame frame_id, angles are measured around

# # the positive Z axis (counterclockwise, if Z is up)

# # with zero angle being forward along the x axis


#float32 angle_min # start angle of the scan [rad]

#float32 angle_max # end angle of the scan [rad]

#float32 angle_increment # angular distance between measurements [rad]


#float32 time_increment # time between measurements [seconds] - if your scanner

# # is moving, this will be used in interpolating position

# # of 3d points

#float32 scan_time # time between scans [seconds]


#float32 range_min # minimum range value [m]

#float32 range_max # maximum range value [m]


#LaserEcho[] ranges # range data [m]

# # (Note: NaNs, values < range_min or > range_max should be discarded)

# # +Inf measurements are out of range

# # -Inf measurements are too close to determine exact distance.

#LaserEcho[] intensities # intensity data [device-specific units]. If your

# # device does not provide intensities, please leave

# # the array empty.

紧凑消息定义

std_msgs/msg/Header header
float angle_min
float angle_max
float angle_increment
float time_increment
float scan_time
float range_min
float range_max
sensor_msgs/msg/LaserEcho[] ranges
sensor_msgs/msg/LaserEcho[] intensities