Support Portal

Application /Product Knowledge

multiScan100: rosbag recordings - production hall

Article No: KA-09442
Version: 1.6
Subject to change without notice
Related Products
multiScan100
Attachments
Guideline_ROS2.pdf

Table of Contents

Electronic production - people walking by
  • Captured data
    • 3D-LiDAR: multiScan136/multiScan165
    • Camera: Camera
  • Format: .db3
  • Environment: indoor
  • Application: Mobile robot
  • Description: Two people walk by the multiScan.
  • Mounting position 1
    • Orientation: Upside down 
    • Heigth to Sensor Hood Cover: 77,5cm
    • Distance between Sensors: 46,55cm
    • Horizontal Field of View
      • multiScan136 
        • Start angle: -175°
        • Stop angle: 65°
      • multiScan165
        • Start angle: -80°
        • Stop angle: 175°
    • Length: 26s
  • Mounting position 2
    • Orientation: Horizontal
    • Heigth to Sensor Hood Cover: 25cm
    • Distance between Sensors: 46,4cm
    • Horizontal Field of View
      • multiScan136 
        • Start angle: -80°
        • Stop angle: 175°
      • multiScan165
        • Start angle: -175°
        • Stop angle: 80°
    • Length: 23s

Basic rosbag:

  • Topics
    • multiScan136 (PointCloud2)
      • /multiscan136/cloud_unstructured_fullframe
        • fullframe, all echoes, all scan layers
    • multiScan165 (PointCloud2)
      • /multiscan165/cloud_unstructured_fullframe
        • fullframe, all echoes, all scan layers
    • Image (ip_stream_image)

Advanced rosbag:

  • Topics
    • multiScan136 (PointCloud2)
      • /multiscan136/cloud_unstructured_fullframe
        • fullframe, all echoes, all scan layers
      • /multiscan136/echo1_noHighRes
        • fullframe, first echo, all scan layers without high resolution scan layer 6 & 14
      • /multiscan136/echo1_HighRes
        • fullframe, first echo, only high resolution scan layer 6 & 14
      • /multiscan136/reflector_noHighRes
        • fullframe, reflectors, all scan layers without high resolution scan layer 6 & 14
      • /multiscan136/reflector_HighRes
        • fullframe, reflectors, only high resolution scan layer 6 & 14
    • multiScan165 (PointCloud2)
      • /multiscan165/cloud_unstructured_fullframe
        • fullframe, all echoes, all scan layers
      • /multiscan165/reflector
        • fullframe, reflector, all scan layers
    • Image (ip_stream_image)
 

Electronic production - approaching manufacturing cell
  • Captured data
    • 3D-LiDAR: multiScan136/multiScan165
    • Camera: Camera
  • Format: .db3
  • Environment: indoor
  • Application: Mobile robot
  • Description: MultiScan is approaching a manufacturing cell.
  • Mounting position 1
    • Orientation: Upside down 
    • Heigth to Sensor Hood Cover: 77,5cm
    • Distance between Sensors: 46,55cm
    • Horizontal Field of View
      • multiScan136 
        • Start angle: -175°
        • Stop angle: 65°
      • multiScan165
        • Start angle: -80°
        • Stop angle: 175°
    • Length: 20s
  • Mounting position 2
    • Orientation: Horizontal
    • Heigth to Sensor Hood Cover: 25cm
    • Distance between Sensors: 46,4cm
    • Horizontal Field of View
      • multiScan136 
        • Start angle: -80°
        • Stop angle: 175°
      • multiScan165
        • Start angle: -175°
        • Stop angle: 80°
    • Length: 19s

Basic rosbag:

  • Topics
    • multiScan136 (PointCloud2)
      • /multiscan136/cloud_unstructured_fullframe
        • fullframe, all echoes, all scan layers
    • multiScan165 (PointCloud2)
      • /multiscan165/cloud_unstructured_fullframe
        • fullframe, all echoes, all scan layers
    • Image (ip_stream_image)

Advanced rosbag:

  • Topics
    • multiScan136 (PointCloud2)
      • /multiscan136/cloud_unstructured_fullframe
        • fullframe, all echoes, all scan layers
      • /multiscan136/echo1_noHighRes
        • fullframe, first echo, all scan layers without high resolution scan layer 6 & 14
      • /multiscan136/echo1_HighRes
        • fullframe, first echo, only high resolution scan layer 6 & 14
      • /multiscan136/reflector_noHighRes
        • fullframe, reflectors, all scan layers without high resolution scan layer 6 & 14
      • /multiscan136/reflector_HighRes
        • fullframe, reflectors, only high resolution scan layer 6 & 14
    • multiScan165 (PointCloud2)
      • /multiscan165/cloud_unstructured_fullframe
        • fullframe, all echoes, all scan layers
      • /multiscan165/reflector
        • fullframe, reflector, all scan layers
    • Image (ip_stream_image)
 

Logistics - approaching storage rack
  • Captured data
    • 3D-LiDAR: multiScan136/multiScan165
    • Camera: Camera
  • Format: .db3
  • Environment: indoor
  • Application: Mobile robot
  • Description: MultiScan is driving through a gate and approaching a storage rack.
  • Mounting position 1
    • Orientation: Upside down 
    • Heigth to Sensor Hood Cover: 77,5cm
    • Distance between Sensors: 46,55cm
    • Horizontal Field of View
      • multiScan136 
        • Start angle: -175°
        • Stop angle: 65°
      • multiScan165
        • Start angle: -80°
        • Stop angle: 175°
    • Length: 39s
  • Mounting position 2
    • Orientation: Horizontal
    • Heigth to Sensor Hood Cover: 25cm
    • Distance between Sensors: 46,4cm
    • Horizontal Field of View
      • multiScan136 
        • Start angle: -80°
        • Stop angle: 175°
      • multiScan165
        • Start angle: -175°
        • Stop angle: 80°
    • Length: 37s

Basic rosbag:

  • Topics
    • multiScan136 (PointCloud2)
      • /multiscan136/cloud_unstructured_fullframe
        • fullframe, all echoes, all scan layers
    • multiScan165 (PointCloud2)
      • /multiscan165/cloud_unstructured_fullframe
        • fullframe, all echoes, all scan layers
    • Image (ip_stream_image)

Advanced rosbag:

  • Topics
    • multiScan136 (PointCloud2)
      • /multiscan136/cloud_unstructured_fullframe
        • fullframe, all echoes, all scan layers
      • /multiscan136/echo1_noHighRes
        • fullframe, first echo, all scan layers without high resolution scan layer 6 & 14
      • /multiscan136/echo1_HighRes
        • fullframe, first echo, only high resolution layer 6 & 14
      • /multiscan136/reflector_noHighRes
        • fullframe, reflectors, all scan layers without high resolution scan layer 6 & 14
      • /multiscan136/reflector_HighRes
        • fullframe, reflectors, only high resolution scan layer 6 & 14
    • multiScan165 (PointCloud2)
      • /multiscan165/cloud_unstructured_fullframe
        • fullframe, all echoes, all scan layers
      • /multiscan165/reflector
        • fullframe, reflector, all scan layers
    • Image (ip_stream_image)
 

Logistics - approaching pallets
  • Captured data
    • 3D-LiDAR: multiScan136/multiScan165
    • Camera: Camera
  • Format: .db3
  • Environment: indoor
  • Application: Mobile robot
  • Description: MultiScan is driving past pallet trucks and approaching pallets.
  • Mounting position 1
    • Orientation: Upside down 
    • Heigth to Sensor Hood Cover: 77,5cm
    • Distance between Sensors: 46,55cm
    • Horizontal Field of View
      • multiScan136 
        • Start angle: -175°
        • Stop angle: 65°
      • multiScan165
        • Start angle: -80°
        • Stop angle: 175°
    • Length: 22s
  • Mounting position 2
    • Orientation: Horizontal
    • Heigth to Sensor Hood Cover: 25cm
    • Distance between Sensors: 46,4cm
    • Horizontal Field of View
      • multiScan136 
        • Start angle: -80°
        • Stop angle: 175°
      • multiScan165
        • Start angle: -175°
        • Stop angle: 80°
    • Length: 21s

Basic rosbag:

  • Topics
    • multiScan136 (PointCloud2)
      • /multiscan136/cloud_unstructured_fullframe
        • fullframe, all echoes, all scan layers
    • multiScan165 (PointCloud2)
      • /multiscan165/cloud_unstructured_fullframe
        • fullframe, all echoes, all scan layers
    • Image (ip_stream_image)

Advanced rosbag:

  • Topics
    • multiScan136 (PointCloud2)
      • /multiscan136/cloud_unstructured_fullframe
        • fullframe, all echoes, all scan layers
      • /multiscan136/echo1_noHighRes
        • fullframe, first echo, all scan layers without high resolution scan layer 6 & 14
      • /multiscan136/echo1_HighRes
        • fullframe, first echo, only high resolution layer 6 & 14
      • /multiscan136/reflector_noHighRes
        • fullframe, reflectors, all scan layers without high resolution scan layer 6 & 14
      • /multiscan136/reflector_HighRes
        • fullframe, reflectors, only high resolution scan layer 6 & 14
    • multiScan165 (PointCloud2)
      • /multiscan165/cloud_unstructured_fullframe
        • fullframe, all echoes, all scan layers
      • /multiscan165/reflector
        • fullframe, reflector, all scan layers
    • Image (ip_stream_image)
 

Logistics - driving through a corridor
  • Captured data
    • 3D-LiDAR: multiScan136/multiScan165
    • Camera: Camera
  • Format: .db3
  • Environment: indoor
  • Application: Mobile robot
  • Description: MultiScan is driving through a logistics corridor with optical difficult materials.
  • Mounting position 1
    • Orientation: Upside down 
    • Heigth to Sensor Hood Cover: 77,5cm
    • Distance between Sensors: 46,55cm
    • Horizontal Field of View
      • multiScan136 
        • Start angle: -175°
        • Stop angle: 65°
      • multiScan165
        • Start angle: -80°
        • Stop angle: 175°
    • Length: 56s
  • Mounting position 2
    • Orientation: Horizontal
    • Heigth to Sensor Hood Cover: 25cm
    • Distance between Sensors: 46,4cm
    • Horizontal Field of View
      • multiScan136 
        • Start angle: -80°
        • Stop angle: 175°
      • multiScan165
        • Start angle: -175°
        • Stop angle: 80°
    • Length: 51s

Basic rosbag:

  • Topics
    • multiScan136 (PointCloud2)
      • /multiscan136/cloud_unstructured_fullframe
        • fullframe, all echoes, all scan layers
    • multiScan165 (PointCloud2)
      • /multiscan165/cloud_unstructured_fullframe
        • fullframe, all echoes, all scan layers
    • Image (ip_stream_image)

Advanced rosbag:

  • Topics
    • multiScan136 (PointCloud2)
      • /multiscan136/cloud_unstructured_fullframe
        • fullframe, all echoes, all scan layers
      • /multiscan136/echo1_noHighRes
        • fullframe, first echo, all scan layers without high resolution scan layer 6 & 14
      • /multiscan136/echo1_HighRes
        • fullframe, first echo, only high resolution scan layer 6 & 14
      • /multiscan136/reflector_noHighRes
        • fullframe, reflectors, all scan layers without high resolution scan layer 6 & 14
      • /multiscan136/reflector_HighRes
        • fullframe, reflectors, only high resolution scan layer 6 & 14
    • multiScan165 (PointCloud2)
      • /multiscan165/cloud_unstructured_fullframe
        • fullframe, all echoes, all scan layers
      • /multiscan165/reflector
        • fullframe, reflector, all scan layers
    • Image (ip_stream_image)
 

Electronic production - AGV driving by
  • Captured data
    • 3D-LiDAR: multiScan136/multiScan165
    • Camera: Camera
  • Format: .db3
  • Environment: indoor
  • Application: Mobile robot
  • Description: AGV is driving by the multiScan.
  • Mounting position 1
    • Orientation: Upside down 
    • Heigth to Sensor Hood Cover: 77,5cm
    • Distance between Sensors: 46,55cm
    • Horizontal Field of View
      • multiScan136 
        • Start angle: -175°
        • Stop angle: 65°
      • multiScan165
        • Start angle: -80°
        • Stop angle: 175°
    • Length: 21s
  • Mounting position 2
    • Orientation: Horizontal
    • Heigth to Sensor Hood Cover: 25cm
    • Distance between Sensors: 46,4cm
    • Horizontal Field of View
      • multiScan136 
        • Start angle: -80°
        • Stop angle: 175°
      • multiScan165
        • Start angle: -175°
        • Stop angle: 80°
    • Length: 14s

Basic rosbag:

  • Topics
    • multiScan136 (PointCloud2)
      • /multiscan136/cloud_unstructured_fullframe
        • fullframe, all echoes, all scan layers
    • multiScan165 (PointCloud2)
      • /multiscan165/cloud_unstructured_fullframe
        • fullframe, all echoes, all scan layers
    • Image (ip_stream_image)

Advanced rosbag:

  • Topics
    • multiScan136 (PointCloud2)
      • /multiscan136/cloud_unstructured_fullframe
        • fullframe, all echoes, all scan layers
      • /multiscan136/echo1_noHighRes
        • fullframe, first echo, all scan layers without high resolution scan layer 6 & 14
      • /multiscan136/echo1_HighRes
        • fullframe, first echo, only high resolution scan layer 6 & 14
      • /multiscan136/reflector_noHighRes
        • fullframe, reflectors, all scan layers without high resolution scan layer 6 & 14
      • /multiscan136/reflector_HighRes
        • fullframe, reflectors, only high resolution scan layer 6 & 14
    • multiScan165 (PointCloud2)
      • /multiscan165/cloud_unstructured_fullframe
        • fullframe, all echoes, all scan layers
      • /multiscan165/reflector
        • fullframe, reflector, all scan layers
    • Image (ip_stream_image)
 

Electronic production - AGV leaving manufacturing cell
  • Captured data
    • 3D-LiDAR: multiScan136/multiScan165
    • Camera: Camera
  • Format: .db3
  • Environment: indoor
  • Application: Mobile robot
  • Description: An AGV leaves a manufacturing cell and drives past the multiScan.
  • Mounting position 1
    • Orientation: Upside down 
    • Heigth to Sensor Hood Cover: 77,5cm
    • Distance between Sensors: 46,55cm
    • Horizontal Field of View
      • multiScan136 
        • Start angle: -175°
        • Stop angle: 65°
      • multiScan165
        • Start angle: -80°
        • Stop angle: 175°
    • Length: 26s
  • Mounting position 2
    • Orientation: Horizontal
    • Heigth to Sensor Hood Cover: 25cm
    • Distance between Sensors: 46,4cm
    • Horizontal Field of View
      • multiScan136 
        • Start angle: -80°
        • Stop angle: 175°
      • multiScan165
        • Start angle: -175°
        • Stop angle: 80°
    • Length: 22s

Basic rosbag:

  • Topics
    • multiScan136 (PointCloud2)
      • /multiscan136/cloud_unstructured_fullframe
        • fullframe, all echoes, all scan layers
    • multiScan165 (PointCloud2)
      • /multiscan165/cloud_unstructured_fullframe
        • fullframe, all echoes, all scan layers
    • Image (ip_stream_image)

Advanced rosbag:

  • Topics
    • multiScan136 (PointCloud2)
      • /multiscan136/cloud_unstructured_fullframe
        • fullframe, all echoes, all scan layers
      • /multiscan136/echo1_noHighRes
        • fullframe, first echo, all scan layers without high resolution scan layer 6 & 14
      • /multiscan136/echo1_HighRes
        • fullframe, first echo, only high resolution scan layer 6 & 14
      • /multiscan136/reflector_noHighRes
        • fullframe, reflectors, all scan layers without high resolution scan layer 6 & 14
      • /multiscan136/reflector_HighRes
        • fullframe, reflectors, only high resolution scan layer 6 & 14
    • multiScan165 (PointCloud2)
      • /multiscan165/cloud_unstructured_fullframe
        • fullframe, all echoes, all scan layers
      • /multiscan165/reflector
        • fullframe, reflector, all scan layers
    • Image (ip_stream_image)
 

Electronic production - two AGVs driving by
  • Captured data
    • 3D-LiDAR: multiScan136/multiScan165
    • Camera: Camera
  • Format: .db3
  • Environment: indoor
  • Application: Mobile robot
  • Description: Two AGVs are driving past the multiScan.
  • Mounting position
    • Orientation: Upside down 
    • Heigth to Sensor Hood Cover: 77,5cm
    • Distance between Sensors: 46,55cm
    • Horizontal Field of View
      • multiScan136 
        • Start angle: -175°
        • Stop angle: 65°
      • multiScan165
        • Start angle: -80°
        • Stop angle: 175°
    • Length: 69s

Basic rosbag:

  • Topics
    • multiScan136 (PointCloud2)
      • /multiscan136/cloud_unstructured_fullframe
        • fullframe, all echoes, all scan layers
    • multiScan165 (PointCloud2)
      • /multiscan165/cloud_unstructured_fullframe
        • fullframe, all echoes, all scan layers
    • Image (ip_stream_image)

Advanced rosbag:

  • Topics
    • multiScan136 (PointCloud2)
      • /multiscan136/cloud_unstructured_fullframe
        • fullframe, all echoes, all scan layers
      • /multiscan136/echo1_noHighRes
        • fullframe, first echo, all scan layers without high resolution scan layer 6 & 14
      • /multiscan136/echo1_HighRes
        • fullframe, first echo, only high resolution scan layer 6 & 14
      • /multiscan136/reflector_noHighRes
        • fullframe, reflectors, all scan layers without high resolution scan layer 6 & 14
      • /multiscan136/reflector_HighRes
        • fullframe, reflectors, only high resolution scan layer 6 & 14
    • multiScan165 (PointCloud2)
      • /multiscan165/cloud_unstructured_fullframe
        • fullframe, all echoes, all scan layers
      • /multiscan165/reflector
        • fullframe, reflector, all scan layers
    • Image (ip_stream_image)
 

Logistics - pallet truck driving by
  • Captured data
    • 3D-LiDAR: multiScan136/multiScan165
    • Camera: Camera
  • Format: .db3
  • Environment: indoor
  • Application: Mobile robot
  • Description: A Pallet Truck is driving past the multiScan.
  • Mounting position
    • Orientation: Horizontal
    • Heigth to Sensor Hood Cover: 25cm
    • Distance between Sensors: 46,4cm
    • Horizontal Field of View
      • multiScan136 
        • Start angle: -80°
        • Stop angle: 175°
      • multiScan165
        • Start angle: -175°
        • Stop angle: 80°
    • Length: 28s

Basic rosbag:

  • Topics
    • multiScan136 (PointCloud2)
      • /multiscan136/cloud_unstructured_fullframe
        • fullframe, all echoes, all scan layers
    • multiScan165 (PointCloud2)
      • /multiscan165/cloud_unstructured_fullframe
        • fullframe, all echoes, all scan layers
    • Image (ip_stream_image)

Advanced rosbag:

  • Topics
    • multiScan136 (PointCloud2)
      • /multiscan136/cloud_unstructured_fullframe
        • fullframe, all echoes, all scan layers
      • /multiscan136/echo1_noHighRes
        • fullframe, first echo, all scan layers without high resolution scan layer 6 & 14
      • /multiscan136/echo1_HighRes
        • fullframe, first echo, only high resolution scan layer 6 & 14
      • /multiscan136/reflector_noHighRes
        • fullframe, reflectors, all scan layers without high resolution scan layer 6 & 14
      • /multiscan136/reflector_HighRes
        • fullframe, reflectors, only high resolution scan layer 6 & 14
    • multiScan165 (PointCloud2)
      • /multiscan165/cloud_unstructured_fullframe
        • fullframe, all echoes, all scan layers
      • /multiscan165/reflector
        • fullframe, reflector, all scan layers
    • Image (ip_stream_image)
 

Logistics - approaching an edge
  • Captured data
    • 3D-LiDAR: multiScan136/multiScan165
    • Camera: Camera
  • Format: .db3
  • Environment: indoor
  • Application: Mobile robot
  • Description: The multiScan is approaching an edge.
  • Mounting position
    • Orientation: Horizontal
    • Heigth to Sensor Hood Cover: 25cm
    • Distance between Sensors: 46,4cm
    • Horizontal Field of View
      • multiScan136 
        • Start angle: -80°
        • Stop angle: 175°
      • multiScan165
        • Start angle: -175°
        • Stop angle: 80°
    • Length: 16s

Basic rosbag:

  • Topics
    • multiScan136 (PointCloud2)
      • /multiscan136/cloud_unstructured_fullframe
        • fullframe, all echoes, all scan layers
    • multiScan165 (PointCloud2)
      • /multiscan165/cloud_unstructured_fullframe
        • fullframe, all echoes, all scan layers
    • Image (ip_stream_image)

Advanced rosbag:

  • Topics
    • multiScan136 (PointCloud2)
      • /multiscan136/cloud_unstructured_fullframe
        • fullframe, all echoes, all scan layers
      • /multiscan136/echo1_noHighRes
        • fullframe, first echo, all scan layers without high resolution scan layer 6 & 14
      • /multiscan136/echo1_HighRes
        • fullframe, first echo, only high resolution scan layer 6 & 14
      • /multiscan136/reflector_noHighRes
        • fullframe, reflectors, all scan layers without high resolution scan layer 6 & 14
      • /multiscan136/reflector_HighRes
        • fullframe, reflectors, only high resolution scan layer 6 & 14
    • multiScan165 (PointCloud2)
      • /multiscan165/cloud_unstructured_fullframe
        • fullframe, all echoes, all scan layers
      • /multiscan165/reflector
        • fullframe, reflector, all scan layers
    • Image (ip_stream_image)
Keywords:
rosbag, ros2, pointcloud, topic
Create request