ROS sensor_Msg::LaserScan存储结构

# Single scan from a planar laser range-finder
#
# If you have another ranging device with different behavior (e.g. a sonar
# array), please find or create a different message, since applications
# will make fairly laser-specific assumptions about this data

Header header            # timestamp in the header is the acquisition time of 
                         # the first ray in the scan.
                         #
                         # in frame frame_id, angles are measured around 
                         # the positive Z axis (counterclockwise, if Z is up)
                         # with zero angle being forward along the x axis
                         
float32 angle_min        # start angle of the scan [rad]
float32 angle_max        # end angle of the scan [rad]
float32 angle_increment  # angular distance between measurements [rad]

float32 time_increment   # time between measurements [seconds] - if your scanner
                         # is moving, this will be used in interpolating position
                         # of 3d points
float32 scan_time        # time between scans [seconds]

float32 range_min        # minimum range value [m]
float32 range_max        # maximum range value [m]

float32[] ranges         # range data [m] (Note: values < range_min or > range_max should be discarded)
float32[] intensities    # intensity data [device-specific units].  If your
                         # device does not provide intensities, please leave
                         # the array empty.

样例数据（rp-lidar）

header: 
  seq: 592
  stamp: 
    secs: 1543501344
    nsecs: 401342459
  frame_id: "laser"
angle_min: -3.12413907051
angle_max: 3.14159274101
angle_increment: 0.0174532923847
time_increment: 2.22015657414e-07
scan_time: 7.97036263975e-05
range_min: 0.15000000596
range_max: 8.0
ranges: [inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, 0.5220000147819519, 0.5329999923706055, inf, 0.5410000085830688, inf, inf, inf, inf, inf, inf, inf, 0.3400000035762787, 0.3580000102519989, 0.33399999141693115, inf, 0.3199999928474426, 0.3449999988079071, 0.34299999475479126, 0.33799999952316284, 0.335999995470047, inf, 0.33899998664855957, 0.34200000762939453, 0.34599998593330383, 0.3490000069141388, 0.3529999852180481, inf, 0.3610000014305115, 0.3700000047683716, 0.382999986410141, inf, 0.38600000739097595, 0.3840000033378601, 0.3970000147819519, 0.4090000092983246, inf, 0.4359999895095825, 0.45899999141693115, 0.47099998593330383, inf, 0.5419999957084656, 0.574999988079071, 0.5879999995231628, inf, 0.5950000286102295, 0.5730000138282776, 0.5649999976158142, 0.5609999895095825, 0.5609999895095825, 0.5619999766349792, 0.546999990940094, 0.527999997138977, 0.5090000033378601, 0.4970000088214874, 0.4880000054836273, 0.48100000619888306, inf, 0.4749999940395355, 0.4699999988079071, 0.4560000002384186, 0.44200000166893005, 0.4339999854564667, 0.4259999990463257, 0.41600000858306885, 0.40799999237060547, 0.39800000190734863, 0.38999998569488525, 0.3840000033378601, inf, 0.3799999952316284, 0.37599998712539673, inf, 0.3709999918937683, 0.36899998784065247, 0.367000013589859, 0.3659999966621399, 0.3659999966621399, 0.3659999966621399, inf, 0.36800000071525574, 0.3709999918937683, 0.3779999911785126, 0.3869999945163727, inf, 0.39399999380111694, 0.40799999237060547, 0.41999998688697815, 0.4339999854564667, inf, inf, 0.375, 0.37299999594688416, 0.3709999918937683, inf, 0.36500000953674316, 0.3610000014305115, 0.35899999737739563, 0.3610000014305115, 0.36399999260902405, 0.35199999809265137, 0.3490000069141388, 0.35100001096725464, inf, 0.3619999885559082, 0.35899999737739563, 0.35100001096725464, 0.3400000035762787, 0.32899999618530273, 0.31700000166893005, 0.30799999833106995, 0.296999990940094, 0.3019999861717224, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, 0.1340000033378601, 0.13199999928474426, 0.12999999523162842, 0.12999999523162842, inf, 0.12999999523162842, 0.13500000536441803, 0.13500000536441803, 0.1340000033378601, 0.1340000033378601, 0.13600000739097595, inf, 0.16300000250339508, 0.1599999964237213, 0.15800000727176666, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, 0.13199999928474426, 0.13199999928474426, 0.13199999928474426, inf, inf, 0.20000000298023224, 0.20000000298023224, 0.20100000500679016, 0.20100000500679016, 0.20200000703334808, 0.20200000703334808, 0.2029999941587448, inf, 0.20399999618530273, 0.20499999821186066, inf, 0.20600000023841858, 0.2070000022649765, inf, 0.210999995470047, 0.20999999344348907, 0.20999999344348907, 0.2160000056028366, 0.2150000035762787, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, 0.13300000131130219, 0.13099999725818634, 0.1340000033378601, inf, inf, inf, inf, inf, inf, 0.46399998664855957, 0.460999995470047, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, 0.12300000339746475, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf]
intensities: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 47.0, 47.0, 0.0, 47.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 47.0, 47.0, 47.0, 0.0, 47.0, 47.0, 47.0, 47.0, 47.0, 0.0, 47.0, 47.0, 47.0, 47.0, 47.0, 0.0, 47.0, 47.0, 47.0, 0.0, 47.0, 47.0, 47.0, 47.0, 0.0, 47.0, 47.0, 47.0, 0.0, 47.0, 47.0, 47.0, 0.0, 47.0, 47.0, 47.0, 47.0, 47.0, 47.0, 47.0, 47.0, 47.0, 47.0, 47.0, 47.0, 0.0, 47.0, 47.0, 47.0, 47.0, 47.0, 47.0, 47.0, 47.0, 47.0, 47.0, 47.0, 0.0, 47.0, 47.0, 0.0, 47.0, 47.0, 47.0, 47.0, 47.0, 47.0, 0.0, 47.0, 47.0, 47.0, 47.0, 0.0, 47.0, 47.0, 47.0, 47.0, 0.0, 0.0, 47.0, 47.0, 47.0, 0.0, 47.0, 47.0, 47.0, 47.0, 47.0, 47.0, 47.0, 47.0, 0.0, 47.0, 47.0, 47.0, 47.0, 47.0, 47.0, 47.0, 47.0, 47.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 47.0, 47.0, 47.0, 47.0, 0.0, 47.0, 47.0, 47.0, 47.0, 47.0, 47.0, 0.0, 47.0, 47.0, 47.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 47.0, 47.0, 47.0, 0.0, 0.0, 47.0, 47.0, 47.0, 47.0, 47.0, 47.0, 47.0, 0.0, 47.0, 47.0, 0.0, 47.0, 47.0, 0.0, 47.0, 47.0, 47.0, 47.0, 47.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 47.0, 47.0, 47.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 47.0, 47.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 47.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]