ROS2 消息格式 PointCloud

文件：sensor_msgs/msg/PointCloud.msg

原始消息定义

# THIS MESSAGE IS DEPRECATED AS OF FOXY

# Please use sensor_msgs/PointCloud2


# This message holds a collection of 3d points, plus optional additional

# information about each point.


# Time of sensor data acquisition, coordinate frame ID.

std_msgs/Header header

# Array of 3d points. Each Point32 should be interpreted as a 3d point

# in the frame given in the header.

geometry_msgs/Point32[] points

# Each channel should have the same number of elements as points array,

# and the data in each channel should correspond 1:1 with each point.

# Channel names in common practice are listed in ChannelFloat32.msg.

ChannelFloat32[] channels

紧凑消息定义

std_msgs/msg/Header header
geometry_msgs/msg/Point32[] points
sensor_msgs/msg/ChannelFloat32[] channels