持续跟新...，参考文献：https://www.cnblogs.com/BlueMountain-HaggenDazs/p/6691664.html
一、使用的激光雷达是slamtec A1.
（1）publish给ros系统的雷达数据数据类型：
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] 单位是米
float32 range_max # maximum range value [m]
float32[] ranges # range data [m] (Note: values < range_min or > range_max
#should be discarded) 存储的数据表示雷达到障碍物的距离，单位：米
float32[] intensities # intensity data [device-specific units]. If your
# device does not provide intensities, please leave
# the array empty.(2) 雷达scan的信息类型：
typedef struct _rplidar_response_measurement_node_t {
_u8 sync_quality; // syncbit:1;syncbit_inverse:1;quality:6;
_u16 angle_q6_checkbit; // check_bit:1;angle_q6:15; 角度信息
_u16 distance_q2; //雷达到障碍物的距离信息
} __attribute__((packed)) rplidar_response_measurement_node_t;