schema_version: 1
sensor_id: demo_lidar_3d
sensor_type: lidar_3d
frame_id: lidar_3d_link
topic: /sensor/lidar_3d/pointcloud
pointcloud_format: pcd
frames:
  - sequence: 0
    stamp_us: 1770000000000000
    file: sensor/lidar_3d/cloud_000000.pcd
    point_count: 120000
    quality_score: 0.92
  - sequence: 1
    stamp_us: 1770000001000000
    file: sensor/lidar_3d/cloud_000001.pcd
    point_count: 121000
    quality_score: 0.93
