multisense_ros¶

Message types¶

• multisense_ros/DeviceInfo
• multisense_ros/RawCamConfig
• multisense_ros/RawLidarData
• multisense_ros/RawCamCal
• multisense_ros/Histogram
• multisense_ros/RawImuData
• multisense_ros/RawLidarCal
• multisense_ros/RawCamData
• multisense_ros/StampedPps

multisense_ros/DeviceInfo¶

Field:

deviceName (string) – buildDate (string) – serialNumber (string) – deviceRevision (uint32) – numberOfPcbs (uint32) – pcbSerialNumbers[] (uint32) – pcbNames[] (string) – imagerName (string) – imagerType (uint32) – imagerWidth (uint32) – imagerHeight (uint32) – lensName (string) – lensType (uint32) – nominalBaseline (float32) – nominalFocalLength (float32) – nominalRelativeAperture (float32) – lightingType (uint32) – numberOfLights (uint32) – laserName (string) – laserType (uint32) – motorName (string) – motorType (uint32) – motorGearReduction (float32) – apiBuildDate (string) – apiVersion (uint16) – firmwareBuildDate (string) – firmwareVersion (uint16) – bitstreamVersion (uint64) – bitstreamMagic (uint64) – fpgaDna (uint64) –

string deviceName
string buildDate
string serialNumber
uint32 deviceRevision

uint32    numberOfPcbs
uint32[] pcbSerialNumbers
string[] pcbNames

string imagerName
uint32 imagerType
uint32 imagerWidth
uint32 imagerHeight

string lensName
uint32 lensType
float32 nominalBaseline
float32 nominalFocalLength
float32 nominalRelativeAperture

uint32 lightingType
uint32 numberOfLights

string laserName
uint32 laserType

string motorName
uint32 motorType
float32 motorGearReduction

string apiBuildDate
uint16 apiVersion
string firmwareBuildDate
uint16 firmwareVersion

uint64 bitstreamVersion
uint64 bitstreamMagic
uint64 fpgaDna

multisense_ros/RawCamConfig¶

Field:	width (uint16) – height (uint16) – frames_per_second (float32) – gain (float32) – exposure_time (uint32) – fx (float32) – fy (float32) – cx (float32) – cy (float32) – tx (float32) – ty (float32) – tz (float32) – roll (float32) – pitch (float32) – yaw (float32) –

uint16  width
uint16  height
float32 frames_per_second
float32 gain
uint32  exposure_time
float32 fx
float32 fy
float32 cx
float32 cy
float32 tx
float32 ty
float32 tz
float32 roll
float32 pitch
float32 yaw

multisense_ros/RawLidarData¶

Field:	scan_count (uint32) – time_start (time) – time_end (time) – angle_start (int32) – angle_end (int32) – distance[] (uint32) – intensity[] (uint32) –

uint32 scan_count
time time_start
time time_end
int32 angle_start
int32 angle_end
uint32[] distance
uint32[] intensity

multisense_ros/RawCamCal¶

Field:	left_M[9] (float32) – left_D[8] (float32) – left_R[9] (float32) – left_P[12] (float32) – right_M[9] (float32) – right_D[8] (float32) – right_R[9] (float32) – right_P[12] (float32) –

float32[9]  left_M
float32[8]  left_D
float32[9]  left_R
float32[12] left_P
float32[9]  right_M
float32[8]  right_D
float32[9]  right_R
float32[12] right_P

multisense_ros/Histogram¶

Field:	frame_count (int64) – time_stamp (time) – width (uint32) – height (uint32) – gain (float32) – fps (float32) – exposure_time (uint32) – channels (uint32) – bins (uint32) – data[] (uint32) –

int64    frame_count
time     time_stamp
uint32   width
uint32   height
float32  gain
float32  fps
uint32   exposure_time
uint32   channels
uint32   bins
uint32[] data

multisense_ros/RawImuData¶

Field:	time_stamp (time) – x (float32) – y (float32) – z (float32) –

time    time_stamp
float32 x
float32 y
float32 z

multisense_ros/RawLidarCal¶

Field:	laserToSpindle[16] (float32) – cameraToSpindleFixed[16] (float32) –

float32[16] laserToSpindle
float32[16] cameraToSpindleFixed

multisense_ros/RawCamData¶

Field:	frames_per_second (float32) – gain (float32) – exposure_time (uint32) – frame_count (uint32) – time_stamp (time) – angle (uint32) – width (uint16) – height (uint16) – gray_scale_image[] (uint8) – disparity_image[] (uint16) –

float32 frames_per_second
float32 gain
uint32  exposure_time
uint32  frame_count
time    time_stamp
uint32  angle
uint16  width
uint16  height
uint8[] gray_scale_image
uint16[] disparity_image

multisense_ros/StampedPps¶

Field:	data (time) – host_time (time) –

time     data
time     host_time