schema_version: 1
sensor_id: demo_lidar_2d
sensor_type: lidar_2d
frame_id: lidar_2d_link
topic: /sensor/lidar_2d/scan
scan_format: csv
scans:
  - sequence: 0
    stamp_us: 1770000000000000
    file: sensor/lidar_2d/scan_000000.csv
    angle_min_rad: -3.14159
    angle_increment_rad: 0.00436
    range_min_m: 0.05
    range_max_m: 30.0
  - sequence: 1
    stamp_us: 1770000001000000
    file: sensor/lidar_2d/scan_000001.csv
    angle_min_rad: -3.14159
    angle_increment_rad: 0.00436
    range_min_m: 0.05
    range_max_m: 30.0
