Apollo
10.0
自动驾驶开放平台
hslidar.pb.txt
浏览该文件的文档.
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config_base
{
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scan_channel:
"/apollo/sensor/hesaiAT128/Scan"
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point_cloud_channel:
"/apollo/sensor/hesaiAT128/PointCloud2"
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frame_id:
"hesai_AT128"
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# sample ONLINE_LIDAR, RAW_PACKET
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source_type: ONLINE_LIDAR
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}
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udp_port: 2368
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ptc_port: 9347
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device_ip:
"192.168.1.12"
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host_ip:
"0.0.0.0"
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correction_file_path:
"modules/drivers/lidar/hslidar/correction/angle_correction/AT128_test_angle_correction.dat"
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firetimes_path:
"modules/drivers/lidar/hslidar/correction/firetime_correction/AT128_test_firetime_correction.dat"
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source_type: 1 # The type of data source, 1: real-time lidar connection, 2: pcap, 3: from
apollo
record
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pcap_path:
"/media/apollo_record/at128/0205.pcap"
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frame_start_azimuth: -1
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convert_thread_nums: 2
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# AT128 AT128E2X AT128E3X Pandar128E3X Pandar128 Pandar40S Pandar40E3X
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# Pandar60S Pandar64E3X Pandar90 Pandar90E3X PandarXT
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# PandarXT16 PandarXT-16
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# PandarXT32 PandarXT-32
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# PandarXTM XT32M2X
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# PandarQT
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# PandarQT128 QT128C2X
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# Pandar64
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# Pandar40 Pandar40P
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# PandarFT120 FT120C1X
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# ET25-E1X
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# ET25-E2X ET25 ET
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lidar_type:
"AT128"
config_base
config_base
Definition
hslidar.pb.txt:2
apollo
class register implement
Definition
arena_queue.h:37
modules
drivers
lidar
hslidar
conf
hslidar.pb.txt