wendy device ros2 lidar sample
Print bounded LiDAR summaries and XYZ samples as JSON lines
Syntax
wendy device ros2 lidar sample <topic> [flags]Examples
wendy device ros2 lidar sample --helpArguments
Argument notation from the CLI: <topic>. Angle brackets mark required values; square brackets mark optional values. See Details for command-specific validation.
Flags
Flags below include inherited options. Types and defaults come from the CLI source. An empty default means no value is configured.
| Flag | Type | Default | Description |
|---|---|---|---|
--count | int | 1 | Number of summaries, 1..5 |
--device | string | (empty) | Target device hostname; wendy run accepts a comma-separated list to deploy one build to several devices (needs a remote build host and --detach). Defaults to $WENDY_DEVICE, then the saved default device |
--domain | int32 | -1 | ROS_DOMAIN_ID override (default: app config, or 0 for the system graph) |
--duration | int | 10 | Total observation deadline in seconds, 1..60 |
--json | bool | false | Output in JSON format |
--max-points | int | 200000 | Maximum decoded points per message, 100..1000000 |
--max-range | float64 | 20 | Maximum output-frame range in metres |
--max-z | float64 | 2 | Maximum output-frame Z in metres |
--message-type | string | sensor_msgs/msg/PointCloud2 | sensor_msgs/msg/PointCloud2 or sensor_msgs/msg/LaserScan |
--min-range | float64 | 0.05 | Minimum output-frame range in metres |
--min-z | float64 | -1 | Minimum output-frame Z in metres |
--sample-points | int | 32 | Number of output XYZ samples, 0..128 |
--scope | string | app | Inspection graph: app or host |
--target-frame | string | (empty) | Transform samples into this TF frame at capture time |
--use-sim-time | bool | false | Use ROS simulation time for TF |
Output
Output depends on the operation and selected target. Use the command help for additional guidance..
JSON output
The global --json option requests machine-readable output. The CLI also selects JSON mode when no interactive terminal is attached. Support and payloads are command-specific; this flag does not guarantee a single JSON document for commands that stream logs or invoke build tools. Consult Details before parsing command output.
Exit codes
The CLI entry point returns 0 on success and for its user-cancelled or default-cleared results. Other returned errors exit with 1 and print a diagnostic to stderr. Some operations may terminate through subprocess or signal handling; do not infer application health from the CLI exit code alone.
Common errors
Check argument values and flag combinations against the synopsis above. For discovery, build, port, and readiness failures, see deployment troubleshooting. Command-specific constraints are in Details.
See also
Details
Decode PointCloud2 or LaserScan on the device. Return point counts, range sectors and bounded XYZ samples. Source timestamps and frames are retained. Use ros2 bag record for full-resolution SLAM data. Missing data or TF is unknown. The default scope follows the running app; --scope host requires --domain.
Use the command help for additional guidance.