常见雷达型号velodyne、万集、速腾聚创、禾赛科技、览沃数据字段明细velodyne_NCLTnamespacevelodyne_ros{structEIGEN_ALIGN16Point{floatx;/** X axis, Unit:m */floaty;/** Y axis, Unit:m */floatz;/** Z axis, Unit:m */floatintensity;/** Reflectivity */uint16_tring;/** Laser line id */floattime;/** offset_time Unit:us(微秒) */EIGEN_MAKE_ALIGNED_OPERATOR_NEW};}// namespace velodyne_rosPOINT_CLOUD_REGISTER_POINT_STRUCT(velodyne_ros::Point,(float,x,x)(float,y,y)(float,z,z)(float,intensity,intensity)(uint16_t,ring,ring)(float,time,time))万集 16线namespacewanji_ros{structEIGEN_ALIGN16Point{floatx;/** X axis, Unit:m */floaty;/** Y axis, Unit:m */floatz;/** Z axis, Unit:m */floatintensity;/** Reflectivity */uint16_tring;/** Laser line id */doubletimestamp;/** 时间戳 Unit:s(秒) */EIGEN_MAKE_ALIGNED_OPERATOR_NEW};}// namespace wanji_rosPOINT_CLOUD_REGISTER_POINT_STRUCT(wanji_ros::Point,(float,x,x)(float,y,y)(float,z,z)(float,intensity,intensity)(uint16_t,ring,ring)(double,timestamp,timestamp))robosense 16线namespacerobosense_ros{structEIGEN_ALIGN16Point{floatx;/** X axis, Unit:m */floaty;/** Y axis, Unit:m */floatz;/** Z axis, Unit:m */floatintensity;/** Reflectivity */uint16_tring;/** Laser line id */doubletimestamp;/** 时间戳 Unit:s(秒) */EIGEN_MAKE_ALIGNED_OPERATOR_NEW};}// namespace robosense_rosPOINT_CLOUD_REGISTER_POINT_STRUCT(robosense_ros::Point,(float,x,x)(float,y,y)(float,z,z)(float,intensity,intensity)(uint16_t,ring,ring)(double,timestamp,timestamp))livox mid360namespacelivox_ros{structEIGEN_ALIGN16Point{floatx;/** X axis, Unit:m */floaty;/** Y axis, Unit:m */floatz;/** Z axis, Unit:m */floatintensity;/** Reflectivity */uint8_ttag;/** Livox point tag */uint8_tline;/** Laser line id */doubletimestamp;/** 时间戳 Unit:ns(纳秒) */EIGEN_MAKE_ALIGNED_OPERATOR_NEW};}// namespace livox_rosPOINT_CLOUD_REGISTER_POINT_STRUCT(livox_ros::Point,(float,x,x)(float,y,y)(float,z,z)(float,intensity,intensity)(uint8_t,tag,tag)(uint8_t,line,line)(double,timestamp,timestamp))