config.pb.txt

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max_interval_ms: 50
drop_expired_data : true
input_channel: [
    "/apollo/sensor/lidar16/left/PointCloud2",
    "/apollo/sensor/lidar16/right/PointCloud2"
]
# wait time after main channel receive msg, unit second
wait_time_s: 0.02
world_frame_id: "world"
transform_query_timeout: 0.02
output_channel: "/apollo/sensor/lidar16/compensator/PointCloud2"
rotation_compensation: false
 
 
# filter e.g.
# filter_config {
#     frame_id: "vanjee_back"
#     max_x: 1.6
#     min_x: -1.5
#     max_y: 0.75
#     min_y: -0.75
#     max_z: 2.0
# }
 
# filter_config {
#     frame_id: "livox_front_left"
#     max_x: 1.6
#     max_y: 0.6
# }