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The basic ROS sensor_msgs/LaserScan was supplemented with a similar sensor_msgs/MultiEchoLaserScan to handle multi-echo devices.

I know of no similar sensor_msgs/PointCloud2 enhancement, nor have I heard from any other developers with similar needs. I suppose there are various approaches one could take.

I recommend opening a discussion about it on the ros-sig-drivers mailing list. Perhaps we can develop a consensus on the best way to handle 3D multi-echo devices.

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