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The timestamp is the the time of the first distance measurement in a scan. Note this is also stated in the comments of the sensors_msgs/LaserScan message definition.

The time calibration performs some sending of messages back and forth between scanner and host similar to NTP time synchronization. There is some more info here on page 27 of the UTM-30LX-EW protocol documentation.

The timestamp is the the time of the first ~~distance~~ ray/distance measurement in a scan. Note this is also stated in the comments of the sensors_msgs/LaserScan message definition.

The time calibration performs some sending of messages back and forth between scanner and host similar to NTP time synchronization. There is some more info here on page 27 of the UTM-30LX-EW protocol documentation.

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