LaserScan
A single scan from a planar laser range-finder
Panel support
LaserScan is used in the 3D和Image panels.
Schema
| field | type | description |
|---|---|---|
timestamp | time | Timestamp of scan |
frame_id | string | Frame of reference |
pose | Pose | Origin of scan relative to frame of reference; points are positioned in the x-y plane relative to this origin; angles are interpreted as counterclockwise rotations around the z axis with 0 rad being in the +x direction |
start_angle | float64 | Bearing of first point, in radians |
end_angle | float64 | Bearing of last point, in radians |
ranges | float64[] | Distance of detections from origin; assumed to be at equally-spaced angles between start_angle and end_angle |
intensities | float64[] | Intensity of detections |
Reference implementations
Foxglove schemas are framework-agnostic, and can be implemented using any supported message encoding:
| encoding | schema |
|---|---|
| ROS 1 | foxglove_msgs/LaserScan |
| ROS 2 | foxglove_msgs/msg/LaserScan |
| JSON | foxglove.LaserScan |
| Protobuf | foxglove.LaserScan |
| FlatBuffers | foxglove.LaserScan |
| OMG IDL | foxglove::LaserScan |
You must use the schema names specified above for Foxglove to recognize the schema.