ROS常用消息之LaserScan

链接: sensor_msgs/LaserScan Message

文件位置

链接: File: sensor_msgs/LaserScan.msg

Raw Message Definition

# 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        # time between scans [seconds]

float32 range_min        # minimum range value [m]
float32 range_max        # maximum range value [m]

float32[] ranges         # range data [m] (Note: values < range_min or > range_max should be discarded)
float32[] intensities    # intensity data [device-specific units].  If your
                         # device does not provide intensities, please leave
                         # the array empty.

Compact Message Definition

std_msgs/Header header
float32 angle_min
float32 angle_max
float32 angle_increment
float32 time_increment
float32 scan_time
float32 range_min
float32 range_max
float32[] ranges
float32[] intensities

字段解析

• angle_min
  扫描的起始角度（单位：弧度）
• angle_max
  扫描的终止角度（单位：弧度）
• angle_increment
  相邻两次测距的旋转夹角（单位：弧度）
• time_increment
  相邻两次测距的时间差（单位：秒）
• scan_time
  两次扫描的起始时间差（单位：秒）
• range_min
  有效测距范围的最小距离（单位：米）
• range_max
  有效测距范围的最大距离（单位：米）
• ranges
  本次扫描的所有测距值（单位：米）
• intensities
  所有测距的返回信号强度