2 scan_channel:
"/apollo/sensor/lslidar32/Scan"
3 point_cloud_channel:
"/apollo/sensor/lslidar32/PointCloud2"
6 # sample ONLINE_LIDAR, RAW_PACKET
7 source_type: ONLINE_LIDAR
11device_ip:
"192.168.1.200"
15degree_mode: 2 #2: 均匀1度校准两列 1:
18time_synchronization:
false
21rpm: 300 #雷达转速 10hz:600rpm, 20hz:1200rpm, 5hz:300rpm
27scan_end_angle: 36000.0
29bottom_left_x: 0.0 #左下 x值
30bottom_left_y: 0.0 #左下 y值
31top_right_x: 0.0 #右上 x值
32top_right_y: 0.0 #右上 y值
35calibration_file:
"modules/drivers/lidar/lslidar/params/LS32_calibration.yaml"
36pcap_path:
"" #读取pcap包,测试时使用,连接雷达的时候,将此值设置为空
std::string frame_id
Point cloud frame id