{
  "title": "foxglove.LaserScan",
  "description": "A single scan from a planar laser range-finder",
  "$comment": "Generated by https://github.com/foxglove/foxglove-sdk",
  "type": "object",
  "properties": {
    "timestamp": {
      "type": "object",
      "title": "time",
      "properties": {
        "sec": {
          "type": "integer",
          "minimum": 0
        },
        "nsec": {
          "type": "integer",
          "minimum": 0,
          "maximum": 999999999
        }
      },
      "description": "Timestamp of scan"
    },
    "frame_id": {
      "type": "string",
      "description": "Frame of reference"
    },
    "pose": {
      "title": "foxglove.Pose",
      "description": "Origin of scan relative to frame of reference; points are positioned in the x-y plane relative to this origin; angles are interpreted as counterclockwise rotations around the z axis with 0 rad being in the +x direction",
      "type": "object",
      "properties": {
        "position": {
          "title": "foxglove.Vector3",
          "description": "Point denoting position in 3D space",
          "type": "object",
          "properties": {
            "x": {
              "type": "number",
              "description": "x component"
            },
            "y": {
              "type": "number",
              "description": "y component"
            },
            "z": {
              "type": "number",
              "description": "z component"
            }
          },
          "required": [
            "x",
            "y",
            "z"
          ]
        },
        "orientation": {
          "title": "foxglove.Quaternion",
          "description": "Quaternion denoting orientation in 3D space",
          "type": "object",
          "properties": {
            "x": {
              "type": "number",
              "description": "x value"
            },
            "y": {
              "type": "number",
              "description": "y value"
            },
            "z": {
              "type": "number",
              "description": "z value"
            },
            "w": {
              "type": "number",
              "description": "w value"
            }
          },
          "required": [
            "x",
            "y",
            "z",
            "w"
          ]
        }
      },
      "required": [
        "position",
        "orientation"
      ]
    },
    "start_angle": {
      "type": "number",
      "description": "Bearing of first point, in radians"
    },
    "end_angle": {
      "type": "number",
      "description": "Bearing of last point, in radians"
    },
    "ranges": {
      "type": "array",
      "items": {
        "type": "number"
      },
      "description": "Distance of detections from origin; assumed to be at equally-spaced angles between `start_angle` and `end_angle`"
    },
    "intensities": {
      "type": "array",
      "items": {
        "type": "number"
      },
      "description": "Intensity of detections"
    }
  },
  "required": [
    "timestamp",
    "frame_id",
    "pose",
    "start_angle",
    "end_angle",
    "ranges",
    "intensities"
  ]
}