|
xfer_format:=0
sensor_msgs/PointCloud2
|
xfer_format:=1
livox_ros_driver2::CustomMsg 消息类型
livox_ros_driver2/CustomPoint 点类型
|
xfer_format:=2
sensor_msgs/PointCloud2
|
|
header:
seq: 103
stamp:
secs: 1773583645
nsecs: 148426533
frame_id: "livox_frame"
height: 1
width: 20352
fields:
-
name: "x"
offset: 0
datatype: 7 —— float32
count: 1
-
name: "y"
offset: 4
datatype: 7
count: 1
-
name: "z"
offset: 8
datatype: 7
count: 1
-
name: "intensity"
offset: 12
datatype: 7
count: 1
-
name: "tag"
offset: 16
datatype: 2
count: 1
-
name: "line"
offset: 17
datatype: 2
count: 1
-
name: "timestamp"
offset: 18
datatype: 8 —— float64
count: 1
is_bigendian: False
point_step: 26
row_step: 529152
data:
|
livox_ros_driver2::CustomMsg 消息类型
std_msgs/Header header
uint32 seq
time stamp
string frame_id
uint64 timebase # The time of first point
uint32 point_num # Total number of pointclouds
uint8 lidar_id # Lidar device id number
uint8[3] rsvd # 保留
livox_ros_driver2/CustomPoint[] points # Pointcloud data ，点云容器
uint32 offset_time
float32 x
float32 y
float32 z
uint8 reflectivity
uint8 tag
uint8 line
livox_ros_driver2/CustomPoint 点类型
uint32 offset_time
float32 x
float32 y
float32 z
uint8 reflectivity
uint8 tag
uint8 line
|
header:
seq: 0
stamp:
secs: 1773583788
nsecs: 520316000
frame_id: "livox_frame"
height: 1
width: 20064
fields:
-
name: "x"
offset: 0
datatype: 7
count: 1
-
name: "y"
offset: 4
datatype: 7
count: 1
-
name: "z"
offset: 8
datatype: 7
count: 1
-
name: "intensity"
offset: 16
datatype: 7
count: 1
is_bigendian: False
point_step: 32
row_step: 642048
data: [5 ]
|
