一、Airsim通过ros发布激光雷达数据(XYZIRT类型)
airsim ros 官网:https://microsoft.github.io/AirSim/airsim_ros_pkgs/
官网提供话题中与lidar有关的topic为:
/airsim_node/VEHICLE_NAME/lidar/SENSOR_NAME
sensor_msgs::PointCloud2
LIDAR pointcloud
参照官网提供的two_drones_camera_lidar_imu.json对settings.json文件设置
启动airsim_node节点发布上述topic,将消息内容打印出来
rostopic echo /airsim_node/Drone_1/lidar/lidar_1
header:
seq: 172198
stamp:
secs: 1620704694
nsecs: 821185887
frame_id: "Drone_1"
height: 1
width: 1260
fields:
-
name: "x"
offset: 0
datatype: 7
count: 1
-
name: "y"
offset: 4
datatype: 7
count: 1
-
name: "z"
offset: 8
datatype: 7
count: 1
is_bigendian: False
point_step: 12
row_step: 15120
data: [203, 204, 168, 65, 84, 143, 90, 193, 55, 13, 95, 193, 203, 204, 168, 65, 51, 199, 85, 193, 27, 144, 93, 193, 203, 204, 168, 65, 134, 14, 81, 193, 190, 29, 92, 193, 205, 204, 168, 65, 205, 100, 76, 193, 213, 181, 90, 193, 203, 204, 168, 65, 133, 201, 71, 193, 34, 88,