lidar_config.pb.txt

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brand: ROBOSENSE
velodyne {
  frame_id: "velodyne128"
  scan_channel: "/apollo/sensor/lidar16/Scan"
  rpm: 600
  model: VLP16
  prefix_angle: 18000
  firing_data_port: 2369
  positioning_data_port: 8309
  use_sensor_sync: false
  max_range: 100
  min_range: 0.9
  calibration_online: false
  calibration_file: "modules/drivers/lidar/velodyne/params/VLP16_calibration.yaml"
  organized: false
  convert_channel_name: "/apollo/sensor/lidar16/PointCloud2"
  mode: STRONGEST
  use_gps_time: true
  use_poll_sync: true
  is_main_frame: true
}
hesai {
  model: HESAI64
  ip: "192.168.20.13"
  lidar_recv_port: 2368
  gps_recv_port: 10110
  start_angle: 0
  pointcloud_channel: "/apollo/sensor/hesai64/PointCloud2"
  time_zone: 8
  frame_id: "hesai64"
  scan_channel: "/apollo/sensor/hesai64/Scan"
}
robosense {
model: "RS32"
frame_id: "rslidar_32"
ip: "192.168.1.200"
msop_port: 6699
difop_port: 7788
echo_mode: 1
start_angle: 0
end_angle: 360
min_distance: 0
max_distance: 200
cut_angle: 0
pointcloud_channel: "/apollo/sensor/rs32/PointCloud2"
scan_channel: "/apollo/sensor/rs32/Scan"
use_lidar_clock: false
}