ROS订阅激光雷达话题

激光雷达工作原理：

激光雷达装有一个红外激光发射器和接收器。在每一次检测中，激光发射器发射一道激光，遇到障碍物时反射被接收器接收到。通过发生和接收的时间间隔除以光速即可达到雷达和障碍物的距离。激光雷达每完成一次检测会旋转一定角度继续检测，直到转完360度即可得到雷达周围障碍物的分布

在RViz中，激光雷达数据通过添加LaserScan进行可视化。添加LaserScan显示后在里面topic下选择订阅话题/scan

激光雷达消息解读

激光雷达话题消息类型默认为sensor_msgs/laserScan

# Single scan from a 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

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