Initial commit

sensors/lslidar_C16/lslidar_c16_msgs/msg/LslidarC16Layer.msg

@@ -0,0 +1,3 @@
+# Header header
+# The 0th scan is at the bottom
+sensor_msgs/LaserScan[16] scan_channel

sensors/lslidar_C16/lslidar_c16_msgs/msg/LslidarC16Packet.msg

@@ -0,0 +1,5 @@
+# Raw Leishen LIDAR packet.
+
+time stamp              # packet timestamp
+uint8[1206] data        # packet contents
+

sensors/lslidar_C16/lslidar_c16_msgs/msg/LslidarC16Point.msg

@@ -0,0 +1,12 @@
+# 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

sensors/lslidar_C16/lslidar_c16_msgs/msg/LslidarC16Scan.msg

@@ -0,0 +1,6 @@
+# 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

sensors/lslidar_C16/lslidar_c16_msgs/msg/LslidarC16ScanUnified.msg

@@ -0,0 +1,5 @@
+#lslidar C16 scan packets
+
+Header           header         #standard ros message header
+uint64           basetime       #time to the top of hour
+LslidarC16Packet[] packets        #vector of raw packets

sensors/lslidar_C16/lslidar_c16_msgs/msg/LslidarC16Sweep.msg

@@ -0,0 +1,4 @@
+Header header
+
+# The 0th scan is at the bottom
+LslidarC16Scan[16] scans