Added 'ring' field in lidar point cloud generation. Updated ROS and R… #4611
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…OS2 lidar data processing
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…OS2 lidar data processing
Fixes: #
About
LiDAR data must include for each point at least the fields X, Y, Z and ring as most of the commertial LiDARs do. The ring field is the index of laser beam and it is needed to perform LiDAR odometry. This index field has been added in the API and ROS/ROS2 packages has been updated to include that field.
How Has This Been Tested?
Screenshots (if appropriate):