Gazebo | Ignition | Community
Ask Your Question

What are the intensities from gazebo_ros_laser plugin

asked 2018-11-29 06:56:47 -0500

kumpakri gravatar image

updated 2018-11-29 06:57:45 -0500

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


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.


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

edit retag flag offensive close merge delete

1 Answer

Sort by ยป oldest newest most voted

answered 2019-03-01 09:13:34 -0500

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:

edit flag offensive delete link more

Question Tools

1 follower


Asked: 2018-11-29 06:56:47 -0500

Seen: 758 times

Last updated: Nov 29 '18