Initial commit

2026-07-27 13:51:19 +08:00
commit 7bec56ca51
5408 changed files with 1126933 additions and 0 deletions
@@ -0,0 +1,22 @@
+cmake_minimum_required(VERSION 2.8.3)
+project(lslidar_msgs)
+
+find_package(catkin REQUIRED COMPONENTS
+  message_generation
+  std_msgs
+)
+
+add_message_files(
+  DIRECTORY msg
+  FILES
+  LslidarPacket.msg
+  LslidarPoint.msg
+  LslidarScan.msg
+  LslidarSweep.msg
+  LslidarDifop.msg
+)
+generate_messages(DEPENDENCIES std_msgs)
+
+catkin_package(
+  CATKIN_DEPENDS message_runtime std_msgs
+)
@@ -0,0 +1 @@
+int64 rpm
@@ -0,0 +1,5 @@
+# Raw Leishen LIDAR packet.
+
+time stamp              # packet timestamp
+uint8[2000] data        # packet contents
+
@@ -0,0 +1,12 @@
+# Time when the point is captured
+float32 time
+
+# Converted distance in the sensor frame
+float64 x
+float64 y
+float64 z
+
+# Raw measurement from Leishen M10
+float64 azimuth
+float64 distance
+float64 intensity
@@ -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
+LslidarPoint[] points
@@ -0,0 +1,4 @@
+Header header
+
+# The 0th scan is at the bottom
+LslidarScan[16] scans
@@ -0,0 +1,20 @@
+<package>
+
+  <name>lslidar_msgs</name>
+  <version>1.2.0</version>
+  <description>
+    ROS message definitions for Leishen M10 LIDARs.
+  </description>
+  <maintainer email="honghangli@lslidar.com">Nick Li</maintainer>
+  <author>Nick Li</author>
+  <license>GNU General Public License V3.0</license>
+
+  <buildtool_depend>catkin</buildtool_depend>
+
+  <build_depend>message_generation</build_depend>
+  <build_depend>std_msgs</build_depend>
+
+  <run_depend>message_runtime</run_depend>
+  <run_depend>std_msgs</run_depend>
+
+</package>