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What are the intensities from gazebo_ros_laser plugin

asked 2018-11-29 06:56:47 -0600

kumpakri gravatar image

updated 2018-11-29 06:57:45 -0600

The gazebo_ros_laser plugin sends sensor_msgs/LaserScan messages, that contain list of floats called intensities.

sensor_msgs/LaserScan:

std_msgs/Header header
  uint32 seq
  time stamp
  string frame_id
float32 angle_min
float32 angle_max
float32 angle_increment
float32 time_increment
float32 scan_time
float32 range_min
float32 range_max
float32[] ranges
float32[] intensities

Inside the the gazebo_ros_laser plugin source file, the list is being filled with following code.

std::copy(_msg->scan().intensities().begin(),
            _msg->scan().intensities().end(),
laser_msg.intensities.begin());

I understand the ranges list contains the distance to closest obstacle intercepted by the ray, but what does physically the intensity values represent?

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answered 2019-03-01 09:13:34 -0600

ykky gravatar image

Intensities are values that correspond to the amount of light reflected back from a surface. If a surface is reflective, a sensor would read higher intensity levels and vise versa.

For more information:
https://desktop.arcgis.com/en/arcmap/...

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Asked: 2018-11-29 06:56:47 -0600

Seen: 142 times

Last updated: Nov 29 '18