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
raw_amplitude	sensor_msgs/msg/Image	The raw amplitude image (currently not available for the O3R)
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
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.