ODS topics

Published topics

Name	Data type	Description
`/ifm3d/ods/ods_info`	`ifm3d_ros2/msg/Zones`	Provides the id of the currently active zone set, as well as whether each zone is occupied (`=1`) or not (`=0`).
`/ifm3d/ods/ods_occupancy_grid`	`nav_msgs/msg/OccupancyGrid`	The occupancy grid where each cell represent the probability of an obstacle being there.
`/ifm3d/ods/ods_polar_occupancy_grid`	`sensor_msgs/msg/LaserScan`	360° polar distance measurements from the ODS system in LaserScan format. Provides LiDAR-like visualization with 675 angular measurements starting from 0° and increasing counter-clockwise. Distance values are in meters, with `infinity` indicating no detection.
`/ifm3d/ods/ods_occupancy_grid_costmap`	`nav2_msgs/msg/Costmap`	The occupancy grid formatted as a costmap for Navigation2 integration. Publication of this topic is optional and is not directly visualizable in RViz (use the occupancy grid topic for visualization).
`/diagnostics`	`diagnostic_msgs/msg/DiagnosticArray`	Check out the diagnostic documentation for more details.

Note

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

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