LaserScan
Single scan data from a planar laser rangefinder
Panel Support
LaserScan is used in the 3D Panel and Image Panel.
Data Structure
| Field | Type | Description |
|---|---|---|
| timestamp | time | Timestamp of the scan |
| frame_id | string | Reference coordinate system |
| pose | Pose | Scan origin relative to the reference coordinate system; points lie in the x-y plane relative to this origin; angles are interpreted as counterclockwise rotations around the z axis, with 0 radians pointing in the +x direction |
| start_angle | float64 | Azimuth of the first point in radians |
| end_angle | float64 | Azimuth of the last point in radians |
| ranges | float64[] | Distances from the origin to detected points; assumed to be evenly distributed between start_angle and end_angle |
| intensities | float64[] | Intensities of the detected points |
Reference Implementation
The visualization data structure is framework-independent and can be implemented using any supported message encoding:
| Encoding | Data Structure |
|---|---|
| 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 data structure names specified above for the visualization to recognize the data structure.