LiDAR = light detection and ranging
Lidar is a method for determining ranges by targeting an object or a surface with a laser and measuring the time for the reflected light to return to the receiver.
One of the really cool things with LiDAR is that you can actually still do 3D Object Detection with it!
- PCL: https://pointclouds.org/ -> ROS natively uses this
- Open3D-ML: http://www.open3d.org/docs/release/open3d_ml.html
- Brief introduction to Lidar in ROS https://articulatedrobotics.xyz/mobile-robot-8-lidar/
LiDARs on the market
ROS has a specific message type for 2D laser scan data, called
- Velodyne (used in WATonomous)
ROS handles point clouds using the
sensor_msgs/PointCloud2 message type.