Sensor Data Types

class CompressedImage:
    header: Header           # Message header
    format: str              # Image format ("jpeg", "png")
    data: list[int]          # Image data (byte array)

class LaserScan:
    header: Header
    angle_min: float         # Start angle (radians)
    angle_max: float         # End angle (radians)
    angle_increment: float   # Angular increment (radians)
    range_min: float         # Minimum range (m)
    range_max: float         # Maximum range (m)
    ranges: list[float]      # Range data (m)
    intensities: list[float] # Intensity data

class Imu:
    header: Header 
    orientation: Quaternion # Orientation
    orientation_covariance: list[float]               # Covariance of orientation estimate
    angular_velocity: Vector3                         # Angular velocity (rad/s)
    angular_velocity_covariance: list[float]          # Covariance of angular velocity
    linear_acceleration: Vector3                      # Linear acceleration (m/s^2)
    linear_acceleration_covariance: list[float]       # Covariance of linear acceleration

class JointState:
    header: Header
    name: list[str]          # Joint names
    position: list[float]    # Joint positions (radians)
    velocity: list[float]    # Joint velocities (rad/s)
    effort: list[float]      # Joint torques (Nm)

class Range:
    header: Header
    radiation_type: int     # Radiation type (e.g., 0=ultrasound, 1=infrared)
    field_of_view: float    # Field of view (radians)
    min_range: float        # Minimum measurement distance (m)
    max_range: float        # Maximum measurement distance (m)
    range: float            # Current measurement distance (m)
    variance: float         # Measurement variance

class PointCloud2:
    header: Header              
    height: int                 # Point cloud height (1 if unorganized)
    width: int                  # Point cloud width (total number of points)
    fields: list[PointField]    # Field descriptions for each point (e.g., x, y, z, rgb)
    is_bigendian: bool          # Whether data is big-endian
    point_step: int             # Length of a single point in bytes
    row_step: int               # Length of a row in bytes
    data: list[int]             # Raw point cloud data (byte array)
    is_dense: bool              # True if no invalid points (NaN/inf)

class PointField:
    # --- Data Type Constants ---
    INT8    = 1
    UINT8   = 2
    INT16   = 3
    UINT16  = 4
    INT32   = 5
    UINT32  = 6
    FLOAT32 = 7
    FLOAT64 = 8

    # --- Field Definitions ---
    name: str     # Field name (e.g., "x", "y", "z", "rgb")
    offset: int   # Offset of the field within a single point (bytes)
    datatype: int # Data type of the field (use one of the constants above)
    count: int    # Number of elements in the field (e.g., 1 for 'x', and 1 for 'normal_x')