-
Notifications
You must be signed in to change notification settings - Fork 0
/
LaserScan.idl
77 lines (66 loc) · 2.48 KB
/
LaserScan.idl
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
// generated from rosidl_adapter/resource/msg.idl.em
// with input from sensor_msgs/msg/LaserScan.msg
// generated code does not contain a copyright notice
//#include "std_msgs/msg/Header.idl"
#include "Header.idl"
module sensor_msgs {
module msg {
@verbatim (language="comment", text=
" Single scan from a planar laser range-finder" "\n"
"" "\n"
" If you have another ranging device with different behavior (e.g. a sonar" "\n"
" array), please find or create a different message, since applications" "\n"
" will make fairly laser-specific assumptions about this data")
struct _LaserScan {
@verbatim (language="comment", text=
" timestamp in the header is the acquisition time of" "\n"
" the first ray in the scan." "\n"
"" "\n"
" in frame frame_id, angles are measured around" "\n"
" the positive Z axis (counterclockwise, if Z is up)" "\n"
" with zero angle being forward along the x axis")
std_msgs::msg::Header header;
@verbatim (language="comment", text=
" start angle of the scan")
@unit (value="rad")
float angle_min;
@verbatim (language="comment", text=
" end angle of the scan")
@unit (value="rad")
float angle_max;
@verbatim (language="comment", text=
" angular distance between measurements")
@unit (value="rad")
float angle_increment;
@verbatim (language="comment", text=
" time between measurements - if your scanner" "\n"
" is moving, this will be used in interpolating position" "\n"
" of 3d points")
@unit (value="seconds")
float time_increment;
@verbatim (language="comment", text=
" time between scans")
@unit (value="seconds")
float scan_time;
@verbatim (language="comment", text=
" minimum range value")
@unit (value="m")
float range_min;
@verbatim (language="comment", text=
" maximum range value")
@unit (value="m")
float range_max;
@verbatim (language="comment", text=
" range data" "\n"
" (Note: values < range_min or > range_max should be discarded)")
@unit (value="m")
sequence<float> ranges;
@verbatim (language="comment", text=
" intensity data. If your" "\n"
" device does not provide intensities, please leave" "\n"
" the array empty.")
@unit (value="device-specific units")
sequence<float> intensities;
};
};
};