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常见激光雷达ROS驱动下各数据字段单位明细

news 2026/4/25 18:38:04

常见雷达型号

velodyne、万集、速腾聚创、禾赛科技、览沃

数据字段明细

velodyne_NCLT

namespacevelodyne_ros{structEIGEN_ALIGN16Point{floatx;/**< X axis, Unit:m */floaty;/**< Y axis, Unit:m */floatz;/**< Z axis, Unit:m */floatintensity;/**< Reflectivity */uint16_tring;/**< Laser line id */floattime;/**< offset_time Unit:us(微秒) */EIGEN_MAKE_ALIGNED_OPERATOR_NEW};}// namespace velodyne_rosPOINT_CLOUD_REGISTER_POINT_STRUCT(velodyne_ros::Point,(float,x,x)(float,y,y)(float,z,z)(float,intensity,intensity)(uint16_t,ring,ring)(float,time,time))

万集 16线

namespacewanji_ros{structEIGEN_ALIGN16Point{floatx;/**< X axis, Unit:m */floaty;/**< Y axis, Unit:m */floatz;/**< Z axis, Unit:m */floatintensity;/**< Reflectivity */uint16_tring;/**< Laser line id */doubletimestamp;/**< 时间戳 Unit:s(秒) */EIGEN_MAKE_ALIGNED_OPERATOR_NEW};}// namespace wanji_rosPOINT_CLOUD_REGISTER_POINT_STRUCT(wanji_ros::Point,(float,x,x)(float,y,y)(float,z,z)(float,intensity,intensity)(uint16_t,ring,ring)(double,timestamp,timestamp))

robosense 16线

namespacerobosense_ros{structEIGEN_ALIGN16Point{floatx;/**< X axis, Unit:m */floaty;/**< Y axis, Unit:m */floatz;/**< Z axis, Unit:m */floatintensity;/**< Reflectivity */uint16_tring;/**< Laser line id */doubletimestamp;/**< 时间戳 Unit:s(秒) */EIGEN_MAKE_ALIGNED_OPERATOR_NEW};}// namespace robosense_rosPOINT_CLOUD_REGISTER_POINT_STRUCT(robosense_ros::Point,(float,x,x)(float,y,y)(float,z,z)(float,intensity,intensity)(uint16_t,ring,ring)(double,timestamp,timestamp))

livox mid360

namespacelivox_ros{structEIGEN_ALIGN16Point{floatx;/**< X axis, Unit:m */floaty;/**< Y axis, Unit:m */floatz;/**< Z axis, Unit:m */floatintensity;/**< Reflectivity */uint8_ttag;/**< Livox point tag */uint8_tline;/**< Laser line id */doubletimestamp;/**< 时间戳 Unit:ns(纳秒) */EIGEN_MAKE_ALIGNED_OPERATOR_NEW};}// namespace livox_rosPOINT_CLOUD_REGISTER_POINT_STRUCT(livox_ros::Point,(float,x,x)(float,y,y)(float,z,z)(float,intensity,intensity)(uint8_t,tag,tag)(uint8_t,line,line)(double,timestamp,timestamp))