multi_echo_laser_scan.hpp

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namespace sensor_msgs::msg {
class MultiEchoLaserScan {
public:
    // Single scan from a multi-echo planar laser range-finder
    // 
    // If you have another ranging device with different behavior (e.g. a sonar
    // array), please find or create a different message, since applications
    // will make fairly laser-specific assumptions about this data
 
    std_msgs::msg::Header header;  
    // the first ray in the scan.
    // 
    // in frame frame_id, angles are measured around
    // the positive Z axis (counterclockwise, if Z is up)
    // with zero angle being forward along the x axis
 
    float angle_min;  
    float angle_max;  
    float angle_increment;  
 
    float time_increment;  
    // is moving, this will be used in interpolating position
    // of 3d points
    float scan_time;  
 
    float range_min;  
    float range_max;  
 
    std::vector<msg::LaserEcho> ranges;  
    // (Note: NaNs, values < range_min or > range_max should be discarded)
    // +Inf measurements are out of range
    // -Inf measurements are too close to determine exact distance.
    std::vector<msg::LaserEcho> intensities;  
    // device does not provide intensities, please leave
    // the array empty.
};
} // namespace sensor_msgs::msg