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multiScan100: rosbag recordings - rainchamber

Article No: KA-09452
Version: 1.1
Subject to change without notice
Related Products
multiScan165
multiScan100
Attachments
spray_pictures.docx

Table of Contents

 

Topics

In general all echoes have been recorded. Due to the sensor setup, only the topic

  • /cloud_unstructured_firstEcho,
  • /cloud_unstructured_reflector_allEchoes

are filled with data. 

 

NOTE

If the sensor is set up to last echo, like in the following rosbags, the sick_scan_xd driver puts the information of the LAST ECHO into the topic /cloud_unstructured_firstEcho. This can cause confusion because the sensor configuration is set to LAST ECHO.

 

 
 

Test targets

target

850 nm wavelength

size [mm]
remission [%]

white

84.0

600 x 600 x 3

black

14.0

600 x 600 x 3

grey

53.0

600 x 600 x 3

strong reflector (DG)

  

600 x 600 x 3
 

Raintypes

Spray

for more pictures see attachment in the right upper corner of the article

Intensity 25%

Intensity 75%

Intensity 50%

Intensity 100%

Rain

Intensity 25%

Intensity 50%

Intensity 75%

Intensity 100%

Tropical rain

Intensity 25%

Intensity 50%

Intenity 75%
...not available...

Intensity 100%
 

Tests

Spray
Test Topic Target Spray intensity Targetposition [mm] Cuboid area filter  Echo filter  Fog filter  Particle filter  ROSBAG
test_1 /cloud_unstructured_firstEcho white 0% 18000...60   all     test_1
test_14  /cloud_unstructured_firstEcho white 25% 60 ... 18000 on last on off test_14
test_19  /cloud_unstructured_firstEcho white 50% 60 ... 18000 on last on off test_19
test_23  /cloud_unstructured_firstEcho white 75% 60 ... 18000 on last on off test_23
test_27  /cloud_unstructured_firstEcho white 100% 60 ... 18000 on last on off test_27
test_28 /cloud_unstructured_firstEcho grey 0% 60 ... 18000 on last on off test_28
test_33 /cloud_unstructured_firstEcho grey 25% 60 ... 10000 on last on off test_33
test_37 /cloud_unstructured_firstEcho grey 50% 60 ... 10000 on last on off test_37
test_41 /cloud_unstructured_firstEcho grey 75% 60 ... 10000 on last on off test_41
test_45 /cloud_unstructured_firstEcho grey 100% 60 ... 10000 on last on off test_45
test_46 /cloud_unstructured_firstEcho black 0% 60 ... 18000 on last on off test_46
test_51 /cloud_unstructured_firstEcho black 25% 60 ... 10000 on last on off test_51
test_55 /cloud_unstructured_firstEcho black 50% 60 ... 7000 on last on off test_55
test_59 /cloud_unstructured_firstEcho black 75% 60 ... 6000 on last on off

test_59
test_63 /cloud_unstructured_firstEcho black 100% 60 ... 6000 on last on off test_63
test_64

/cloud_unstructured_firstEcho,

/cloud_unstructured_reflector_allEchoes

 DG 0% 60 ... 18000 on last on off test_64
test_72

/cloud_unstructured_firstEcho,

/cloud_unstructured_reflector_allEchoes

 DG 25% 60 ... 18000 on last on off test_72
test_79

/cloud_unstructured_firstEcho,

/cloud_unstructured_reflector_allEchoes

 DG 50% 60 ... 18000 on last on off test_79
test_86

/cloud_unstructured_firstEcho,

/cloud_unstructured_reflector_allEchoes

 DG 75% 60 ... 12000 on last on off test_86
test_93

/cloud_unstructured_firstEcho,

/cloud_unstructured_reflector_allEchoes

 DG 100% 60 ... 16000 on last on off test_93

Rain
Test Topic Target Intensity l/min Targetposition [mm] Cuboid area filter  Echo filter  Fog filter  Particle filter  ROSBAG
test_14 /cloud_unstructured_firstEcho grey 25% 174 18000 on last on on test_14.bag
test_22 /cloud_unstructured_firstEcho white 25% 174 18000 on last on on test_22.bag
test_34

/cloud_unstructured_firstEcho,

/cloud_unstructured_reflector_allEchoes

 DG 25% 174 18000 on last on on test_34.bag
test_12 /cloud_unstructured_firstEcho black 50% 212 18000...200 on last on on test_12.bag
test_13 /cloud_unstructured_firstEcho grey 50% 212 200...18000 on last on on test_13.bag

test_32

 /cloud_unstructured_firstEcho white 50% 212 18000...200 on last on on test_32.bag

test_33

/cloud_unstructured_firstEcho,

/cloud_unstructured_reflector_allEchoes

 DG 50% 212 200.18000 on last on on test_33.bag

test_18

 /cloud_unstructured_firstEcho/cloud_unstructured_firstEcho grey 75% 250 17500 on last on on test_18.bag

test_28

 /cloud_unstructured_firstEcho white 75% 250 16000 on last on on test_28.bag

test_38

/cloud_unstructured_firstEcho,

/cloud_unstructured_reflector_allEchoes

 DG 75% 250 18000 on last on on test_38.bag

test_10

 /cloud_unstructured_firstEcho black 100% 270 18000 on last on on test_10.bag

test_20

 /cloud_unstructured_firstEcho grey 100% 270 18000 on last on on test_20.bag

test_30

 /cloud_unstructured_firstEcho white 100% 270 16000 on last on on test_30.bag

test_40

/cloud_unstructured_firstEcho,

/cloud_unstructured_reflector_allEchoes

 DG 100% 270 18000 on last on on test_40.bag

Tropical rain
Test Topic Target Intensity l/min Targetposition [mm] Cuboid area filter  Echo filter  Fog filter  Particle filter  ROSBAG
test_42

/cloud_unstructured_firstEcho,

/cloud_unstructured_reflector_allEchoes

 DG 100% 579 200 ... 18000 on last on on test_42
test_43 /cloud_unstructured_firstEcho black 75% 521 200 ... 18000 on last on on test_43
test_44 /cloud_unstructured_firstEcho black 75% 521 17000 on last on on test_44
test_45 /cloud_unstructured_firstEcho black 25% 367 17000 on last on on test_45
test_46 /cloud_unstructured_firstEcho black 50% 444 17000 on last on on test_46
test_47 /cloud_unstructured_firstEcho grey 75% 521 200 ... 18000 on last on on test_47
test_48 /cloud_unstructured_firstEcho grey 25% 367 17000 on last on on test_48
test_49 /cloud_unstructured_firstEcho grey 50% 444 17000 on last on on test_49
test_50 /cloud_unstructured_firstEcho grey 75% 521 17000 on last on on test_50
test_51 /cloud_unstructured_firstEcho grey 100% 579 17000 on last on on test_51
test_52 /cloud_unstructured_firstEcho white 75% 521 200 ... 18000 on last on on test_52
test_53 /cloud_unstructured_firstEcho white 25% 367 18000 on last on on test_53
test_54 /cloud_unstructured_firstEcho white 50% 444 18000 on last on on test_54
test_55 /cloud_unstructured_firstEcho white 75% 521 18000 on last on on test_55
test_56 /cloud_unstructured_firstEcho white 100% 579 18000 on last on on test_56

 
Keywords:
ros1, rainchamber, rain, rosbag, spray, pooring rain, LTC
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