Laser Scan
Adds a visualization represented by a sensor_msgs/LaserScan topic to the scene. Different primitives can be selected for data points from the available Style types.
Options to set different color channels
| Name | Description | Valid values | Default |
|---|---|---|---|
| Topic | The sensor_msgs/LaserScan topic to subscribe to. |
Any valid Graph Resource Name | Empty String |
| Style | Type of primitive to show for each laser scan point | Points, Squares, Flat Squares, Sphere, Cube | Points |
| Size | The size for the selected Style | 0.01 | |
| Alpha | The amount of transparency to apply to the image overlay | [0-1] | 1 |
| Color Transformer | Set the colors for the data points based on available valid values | Intensity, Axis value, Flat Color, Intensity | |
| Channel Name | The channel to interpolate against and set the color - Intensity Color Transformer | Intensity, X , Y, Z | Intensity |
| Axis Name | Select the axis to interpolate against and set the color - Axis Color Transformer. | X, Y, Z | X |
| Min Value | Min value setting used in calculation for the normalized color - Axis Color Transfomer | [-inf, < Max Value] | 0 |
| Max Value | Max value setting used in calculation for the normalized color - Axis Color Transfomer | [> Min Value, inf] | 1 |
| Min color | For Intensity Channel to set the color for minimum value. | ([0-255], [0-255], [0-255]) | (0, 0, 0) |
| Max color | For Intensity Channel to set the color for maximum value. | ([0-255], [0-255], [0-255]) | (255, 255, 255) |
| Min intensity | The sensor_msgs/Image topic to subscribe to. | Any valid Graph Resource Name | Empty String |
| Max intensity | The sensor_msgs/Image topic to subscribe to. | Any valid Graph Resource Name | Empty String |
The options are inspired from RViz and work very similar to it.