urg-04lx-ug01.json

{
    "frame_id": "laser",
    "DetectionDistance": {
        "Min": 20,
        "Max": 5560
    },
    "DistanceAccuracy": [
        {
            "Range": {
                "Min": 20,
                "Max": 1000
            },
            "type": "independent",
            "DistanceIndepedentAccuracy": {
                "StdDev": 0.003,
                "NoiseDistribution": "Gaussian"
            }
        },
        {
            "Range": {
                "Min": 1000,
                "Max": 5560
            },
            "type": "independent",
            "DistanceIndepedentAccuracy": {
                "StdDev": 0.00505,
                "NoiseDistribution": "Gaussian"
            }
        }
    ],
    "AngleRange": {
        "Min": -135.0,
        "Max": 120.0,
        "AscendingOrderOfData": false,
        "BlindPaddingRange": {
            "Size": 44,
            "Value": 0.0189999993890523
        },
        "Resolution": 0.3515625,
        "ScanFrequency": 10
    }
}