Initial commit

2026-07-27 13:51:19 +08:00
commit 7bec56ca51
5408 changed files with 1126933 additions and 0 deletions
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+cmake_minimum_required(VERSION 2.8.3)
+project(lslidar_c16_msgs)
+
+find_package(catkin REQUIRED COMPONENTS
+  message_generation
+  std_msgs
+  sensor_msgs
+)
+
+add_message_files(
+  DIRECTORY msg
+  FILES
+  LslidarC16Layer.msg
+  LslidarC16Packet.msg
+  LslidarC16Point.msg
+  LslidarC16Scan.msg
+  LslidarC16Sweep.msg
+  LslidarC16ScanUnified.msg
+)
+
+
+add_service_files(
+  FILES
+  lslidar_c16_control.srv
+)
+
+
+generate_messages(DEPENDENCIES std_msgs sensor_msgs)
+
+catkin_package(
+  CATKIN_DEPENDS message_runtime std_msgs sensor_msgs
+)
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+# Header header
+# The 0th scan is at the bottom
+sensor_msgs/LaserScan[16] scan_channel
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+# Raw Leishen LIDAR packet.
+
+time stamp              # packet timestamp
+uint8[1206] data        # packet contents
+
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+# Time when the point is captured
+float64 time
+
+# Converted distance in the sensor frame
+float64 x
+float64 y
+float64 z
+
+# Raw measurement from Leishen C16
+float64 azimuth
+float64 distance
+float64 intensity
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+# Altitude of all the points within this scan
+float64 altitude
+
+# The valid points in this scan sorted by azimuth
+# from 0 to 359.99
+LslidarC16Point[] points
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+#lslidar C16 scan packets
+
+Header           header         #standard ros message header
+uint64           basetime       #time to the top of hour
+LslidarC16Packet[] packets        #vector of raw packets
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+Header header
+
+# The 0th scan is at the bottom
+LslidarC16Scan[16] scans
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+<package>
+
+  <name>lslidar_c16_msgs</name>
+  <version>1.2.0</version>
+  <description>
+    ROS message definitions for Leishen C16 LIDARs.
+  </description>
+  <url>http://www.ros.org/wiki/lslidar_c16</url>
+  <maintainer email="yutongyan@lslidar.com">Yutong</maintainer>
+  <author>Yutong</author>
+  <license>GNU General Public License V3.0</license>
+
+  <buildtool_depend>catkin</buildtool_depend>
+
+  <build_depend>message_generation</build_depend>
+  <build_depend>sensor_msgs</build_depend>
+  <build_depend>std_msgs</build_depend>
+  <run_depend>message_runtime</run_depend>
+  <run_depend>sensor_msgs</run_depend>
+  <run_depend>std_msgs</run_depend>
+
+</package>
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+int32 LaserControl
+---
+string status