ros中二维激光的消息类型 sensor_msgs/LaserScan 内容解读

最近涉及到二维激光数据内容的问题，再次记录一下。

sensor_msgs/LaserScan.msg 文件的路径 /opt/ros/kinetic/share/sensor_msgs/msg/LaserScan.msg

主要内容：

# 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.

内容解释:

Header :是一个结构体，包含seq、stamp、frame_id。seq扫描顺序增加的id序列，
stamp激光数据的时间戳，frame_id 是扫描数据的名字。

angle-min：激光开始扫描的角度

angle-max：激光结束扫描的角度

angle-increment：激光每次扫描增加的角度

time-increment： 激光测量的时间间隔

scan-time ：激光扫描的时间间隔

range-min：激光测距的最小值

range-max：激光测距的最大值

ranges：距离数据，是一个数组，激光转一周的测量数据。

intensities：强度数据，是一个数组，与设备有关。

举例：