velodyne16_front_center_conf.pb.txt

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frame_id: "velodyne16_front_center"
scan_channel: "/apollo/sensor/lidar16/front/center/Scan"
rpm: 600.0
model: VLP16
mode: STRONGEST
prefix_angle: 18000
firing_data_port: 2370
positioning_data_port: 8310
use_sensor_sync: false
max_range: 100.0
min_range: 0.9
use_gps_time: true
calibration_online: false
calibration_file: "modules/drivers/lidar/velodyne/params/VLP16_calibration.yaml"
organized: false
convert_channel_name: "/apollo/sensor/lidar16/front/center/PointCloud2"
use_poll_sync: true
is_main_frame: false