激光雷达数据和odom数据
ros2 topic echo /scan
---
header:
stamp:
sec: 2746
nanosec: 236000000
frame_id: laser_link
angle_min: 0.0
angle_max: 6.28000020980835
angle_increment: 0.01749303564429283
time_increment: 0.0
scan_time: 0.0
range_min: 0.11999999731779099
range_max: 3.5
ranges:
- 0.1357576549053192
- 0.13274267315864563
- 0.13491924107074738
- 0.12728963792324066
- 0.14018651843070984
- 0.12947429716587067
- 0.12550762295722961
- 0.13136516511440277
- 0.13024954497814178
- 0.11999999731779099
- 0.1615028977394104
- 0.12435409426689148
- 0.1320551633834839
- 0.1409989297389984
- 0.13507522642612457
- 0.12268535047769547
- 0.1404579132795334
- 0.13761071860790253
- 0.1503773033618927
- 0.12420032173395157
- 0.13359826803207397
- 0.11999999731779099
- 0.13831619918346405
- 0.1477203220129013
- 0.1642967164516449
- 0.12940004467964172
- 0.13067279756069183
- 0.14587172865867615
- 0.1440461277961731
- 0.13927079737186432
- 0.14637331664562225
- 0.1444903016090393
- 0.15897628664970398
- 0.13588352501392365
- 0.1636868715286255
- 0.155186265707016
- 0.14988493919372559
- 0.15125592052936554
- 0.1648588478565216
- 0.17682687938213348
- 0.18185685575008392
- 0.16568540036678314
- 0.159017413854599
- 0.174812912940979
- 0.16447405517101288
- 0.1809515804052353
- 0.18421538174152374
- 0.1739244908094406
- 0.18986830115318298
- 0.18216152489185333
- 0.21208709478378296
- 0.21196608245372772
- 0.20567473769187927
- 0.19463729858398438
- 0.23318085074424744
- 0.23568953573703766
- 0.2256600558757782
- 0.22568027675151825
- 0.2326006144285202
- 0.26731249690055847
- 0.24962016940116882
- 0.2763374149799347
- 0.273208349943161
- 0.2861330211162567
- 0.3047672212123871
- 0.30232295393943787
- 0.30729132890701294
- 0.31756049394607544
- 0.34554943442344666
- 0.34511616826057434
- 0.37451374530792236
- 0.37072256207466125
- 0.4023578464984894
- 0.4413558840751648
- 0.43559730052948
- 0.4920308589935303
- 0.5098116993904114
- 0.5451174378395081
- 0.5837374925613403
- 0.6548380255699158
- 0.6910128593444824
- 0.7842224836349487
- 0.8446397185325623
- 0.9695355296134949
- 1.1217998266220093
- 1.319140911102295
- 1.580551266670227
- 2.0140998363494873
- 2.7679007053375244
- .inf
- .inf
- .inf
- .inf
- .inf
- .inf
- .inf
- .inf
- .inf
- .inf
- .inf
- .inf
- .inf
- .inf
- .inf
- .inf
- .inf
- .inf
- .inf
- .inf
- .inf
- .inf
- .inf
- .inf
- .inf
- .inf
- .inf
- .inf
- .inf
- .inf
- .inf
- .inf
- .inf
- .inf
- .inf
- .inf
- .inf
- .inf
- .inf
- '...'
intensities:
- 0.0
- 0.0
- 0.0
- 0.0
- 0.0
- 0.0
- 0.0
- 0.0
- 0.0
- 0.0
- 0.0
- 0.0
- 0.0
- 0.0
- 0.0
- 0.0
- 0.0
- 0.0
- 0.0
- 0.0
- 0.0
- 0.0
- 0.0
- 0.0
- 0.0
- 0.0
- 0.0
- 0.0
- 0.0
- 0.0
- 0.0
- 0.0
- 0.0
- 0.0
- 0.0
- 0.0
- 0.0
- 0.0
- 0.0
- 0.0
- 0.0
- 0.0
- 0.0
- 0.0
- 0.0
- 0.0
- 0.0
- 0.0
- 0.0
- 0.0
- 0.0
- 0.0
- 0.0
- 0.0
- 0.0
- 0.0
- 0.0
- 0.0
- 0.0
- 0.0
- 0.0
- 0.0
- 0.0
- 0.0
- 0.0
- 0.0
- 0.0
- 0.0
- 0.0
- 0.0
- 0.0
- 0.0
- 0.0
- 0.0
- 0.0
- 0.0
- 0.0
- 0.0
- 0.0
- 0.0
- 0.0
- 0.0
- 0.0
- 0.0
- 0.0
- 0.0
- 0.0
- 0.0
- 0.0
- 0.0
- 0.0
- 0.0
- 0.0
- 0.0
- 0.0
- 0.0
- 0.0
- 0.0
- 0.0
- 0.0
- 0.0
- 0.0
- 0.0
- 0.0
- 0.0
- 0.0
- 0.0
- 0.0
- 0.0
- 0.0
- 0.0
- 0.0
- 0.0
- 0.0
- 0.0
- 0.0
- 0.0
- 0.0
- 0.0
- 0.0
- 0.0
- 0.0
- 0.0
- 0.0
- 0.0
- 0.0
- 0.0
- 0.0
- '...'
---
ros2 topic echo /odom
---
header:
stamp:
sec: 2868
nanosec: 167000000
frame_id: odom
child_frame_id: base_footprint
pose:
pose:
position:
x: 0.0009427214987770558
y: -0.0003296974495629194
z: 0.015999687516554978
orientation:
x: 3.9623270712921966e-07
y: 7.119830491485281e-06
z: -0.008208864600624864
w: 0.99996630667794
covariance:
- 1.0e-05
- 0.0
- 0.0
- 0.0
- 0.0
- 0.0
- 0.0
- 1.0e-05
- 0.0
- 0.0
- 0.0
- 0.0
- 0.0
- 0.0
- 1000000000000.0
- 0.0
- 0.0
- 0.0
- 0.0
- 0.0
- 0.0
- 1000000000000.0
- 0.0
- 0.0
- 0.0
- 0.0
- 0.0
- 0.0
- 1000000000000.0
- 0.0
- 0.0
- 0.0
- 0.0
- 0.0
- 0.0
- 0.001
twist:
twist:
linear:
x: -6.883061792922824e-07
y: -1.2410642423866674e-07
z: 0.0
angular:
x: 0.0
y: 0.0
z: -6.180685727256352e-06
covariance:
- 1.0e-05
- 0.0
- 0.0
- 0.0
- 0.0
- 0.0
- 0.0
- 1.0e-05
- 0.0
- 0.0
- 0.0
- 0.0
- 0.0
- 0.0
- 1000000000000.0
- 0.0
- 0.0
- 0.0
- 0.0
- 0.0
- 0.0
- 1000000000000.0
- 0.0
- 0.0
- 0.0
- 0.0
- 0.0
- 0.0
- 1000000000000.0
- 0.0
- 0.0
- 0.0
- 0.0
- 0.0
- 0.0
- 0.001
---