Topics

Published Topics

Name	Data Type	Description
`amplitude`	`sensor_msgs/msg/Image`	The normalized amplitude image
`cloud`	`sensor_msgs/msg/PointCloud2`	The point cloud data
`confidence`	`sensor_msgs/msg/Image`	The confidence image
`distance`	`sensor_msgs/msg/Image`	The radial distance image
`rgb`	`sensor_msgs/msg/Image`	The RGB 2D image of the 2D imager
`extrinsics`	`ifm3d_ros2::msg::Extrinsics`	The extrinsic calibration of the camera (camera to world)
`intrinsic_calib`	`ifm3d_ros2::msg::Intrinsics`	The intrinsic calibration of the camera (optical system parameters)
`inverse_intrinsic_calibration`	`ifm3d_ros2::msg::InverseIntrinsics`	The inverse intrinsic calibration of the camera
`camera_info`	`sensor_msgs::msg::CameraInfo`	The camera info topic containing the distortion model. This topic is published if the `INTRINSIC_CALIB` is part of the buffer list for the 3D cameras, or if the `RGB_INFO` is part of the buffer list for the RGB cameras.
`tof_info`	`ifm3d_ros2::msg::TOFInfo`	A topic gathering various information from the tof camera (see TOFinfo.msg)
`rgb_info`	`ifm3d_ros2::msg::RGBInfo`	A topic gathering various information from the rgb camera (see RGBInfo.msg)
`diagnostics`	`diagnostic_msgs::msg::DiagnosticArray`	Diagnostic messages pulled from the device every second

Note

All the topics are published with QoS ifm3d_ros2::LowLatencyQoS.

None.