Usage

lidar does not take any input and continuously outputs a lidar-data stream. It contains an array of scans which are sorted in ascending order based on the angle value.

Output

lidar outputs the lidar-data stream as seen in the example below

pb_output.SensorOutput{
    SensorId:  1,
    Timestamp: uint64(time.Now().UnixMilli()),
    SensorOutput: &pb_output.SensorOutput_LidarOutput{
        LidarOutput: &pb_output.LidarSensorOutput{
            NScans: <nodeCount>,
            Scans: []*pb_output.LidarSensorOutput_Scan{
                {
                    Angle:    float32(angle in degrees),
                    Distance: float32(distance in millimeters),
                    Quality:  uint32(measurement quality),
                    IsStart:  bool (true if scan start, false otherwise),
                },
                // ... additional scan points
            },
        },
    },
}

SensorOutput_LidarOutput contains a LidarOutput object, which contains the total number of scans (NScans) and an array of Scan objects.

Each Scan includes:

1. Angle, a float32 value representing the angle in degrees.
2. Distance, a float32 value representing the distance in millimeters.
3. Quality, an uint32 value indicating the measurement quality.
4. IsStart, a boolean value indicating whether this measurement marks the start of a new scan.