laser_slam/LocalizedScan Documentation

File: laser_slam/LocalizedScan.msg

# The reference frame and time point w.r.t which sensor pose is stored
# Note that header.stamp might be different from scan.header.stamp
Header header

# Original scan
sensor_msgs/LaserScan scan

# Point cloud in sensor frame at timepoint header.stamp, corrected for robot movement
sensor_msgs/PointCloud cloud

# Pose of sensor in reference frame
geometry_msgs/Pose sensor_pose

# Barycenter of cloud in ref frame
geometry_msgs/Point barycenter

Expanded Definition

Header header
    uint32 seq
    time stamp
    string frame_id
sensor_msgs/LaserScan scan
    Header header
        uint32 seq
        time stamp
        string frame_id
    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
sensor_msgs/PointCloud cloud
    Header header
        uint32 seq
        time stamp
        string frame_id
    geometry_msgs/Point32[] points
        float32 x
        float32 y
        float32 z
    sensor_msgs/ChannelFloat32[] channels
        string name
        float32[] values
geometry_msgs/Pose sensor_pose
    geometry_msgs/Point position
        float64 x
        float64 y
        float64 z
    geometry_msgs/Quaternion orientation
        float64 x
        float64 y
        float64 z
        float64 w
geometry_msgs/Point barycenter
    float64 x
    float64 y
    float64 z

laser_slam/LocalizedScan Message

File: laser_slam/LocalizedScan.msg

Expanded Definition