ROS学习笔记（5）LaserScan/PointCloud

1. ROS消息头

   sensor_msgs/LaserScan和 sensor_msgs/PointCloud等消息使用共同的消息头Header，格式如下：

   #Standard metadata for higher-level flow data types
   #sequence ID: consecutively increasing ID
   uint32 seq
   #Two-integer timestamp that is expressed as:
   # * stamp.secs: seconds (stamp_secs) since epoch
   # * stamp.nsecs: nanoseconds since stamp_secs
   # time-handling sugar is provided by the client library
   time stamp
   #Frame this data is associated with
   # 0: no frame
   # 1: global frame
   string frame_id

    

2. LaserScan消息

   #
   # 测量的激光扫描角度，逆时针为正
   # 设备坐标帧的0度面向前（沿着X轴方向）
   #
   Header header
   float32 angle_min        # scan的开始角度 [弧度]
   float32 angle_max        # scan的结束角度 [弧度]
   float32 angle_increment  # 测量的角度间的距离 [弧度]
   float32 time_increment   # 测量间的时间 [秒]
   float32 scan_time        # 扫描间的时间 [秒]
   float32 range_min        # 最小的测量距离 [米]
   float32 range_max        # 最大的测量距离 [米]
   float32[] ranges         # 测量的距离数据 [米] (注意: 值 < range_min 或 > range_max 应当被丢弃)
   float32[] intensities    # 强度数据 [device-specific units]

    

3. PointCloud点云消息

   #This message holds a collection of 3d points, plus optional additional information about each point.
   #Each Point32 should be interpreted as a 3d point in the frame given in the header
   
   Header header
   geometry_msgs/Point32[] points  #Array of 3d points
   ChannelFloat32[] channels       #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

    

抄自：http://wiki.ros.org/cn/navigation/Tutorials/RobotSetup/Sensors