vanjeelidar.pb.txt

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config_base {
  scan_channel: "/apollo/sensor/vanjeelidar/up/Scan"
  point_cloud_channel: "/apollo/sensor/vanjeelidar/up/PointCloud2"
  frame_id: "vanjeelidar_up"
 
  # sample ONLINE_LIDAR, RAW_PACKET
  source_type: ONLINE_LIDAR
}
 
# sample: "vanjee_720_16,vanjee_720_32"
model: "vanjee_720_16"
connect_type: 1
host_msop_port: 3001
lidar_msop_port: 3333
host_address: "192.168.2.88"
lidar_address: "192.168.2.86"
publish_mode: 2
start_angle: 0
end_angle: 360
min_distance: 0.3
max_distance: 120
use_lidar_clock: false
dense_points: false
wait_for_difop: true
config_from_file: false
angle_path: "/usr/local/include/vanjee_driver/param/Vanjee_720_16.csv"