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salvage: lidar ring channel (credit @davidtr99 #4611) - #9827

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salvage: lidar ring channel (credit @davidtr99 #4611)#9827
Bartok (Bartok9) wants to merge 1 commit into
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Bartok9:aerial/2026-07-29-salvage-lidar-ring-4611

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@Bartok9 Bartok (Bartok9) commented Jul 29, 2026

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salvage: lidar point cloud ring field (credit David Tejero Ruiz (@davidtr99) #4611)

Rebases the useful core of #4611 onto current main:

  • Unreal lidar emits laser index after x,y,z
  • Lidar-NumPoints uses stride 4
  • ROS1/ROS2 PointCloud2 advertise ring and stride accordingly

Original: David Tejero Ruiz (@davidtr99) #4611

AI-assisted; human-reviewed/rebased.

Claim: bartok
Operator: bartok
Campaign: aerial-drone
@Bartok9
Bartok (Bartok9) force-pushed the aerial/2026-07-29-salvage-lidar-ring-4611 branch from 0009861 to ce3e494 Compare July 29, 2026 09:24
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fix(lidar): add ring channel (salvage credit @davidtr99 microsoft#4611)
38a4a14 
Emit laser index as 4th float per return in UnrealLidarSensor, divide
NumPoints by 4, and expose ring in ROS1/ROS2 PointCloud2 fields.

Based on @davidtr99 microsoft#4611; rebased onto current main.
@Bartok9
Bartok (Bartok9) force-pushed the aerial/2026-07-29-salvage-lidar-ring-4611 branch from ce3e494 to 38a4a14 Compare July 29, 2026 09:24
@Bartok9 Bartok (Bartok9) changed the title salvage: add lidar ring channel to point cloud (credit @davidtr99 #4611) Jul 29, 2026
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