2 scan_channel:
"/apollo/sensor/lslidarCH64w/Scan"
3 point_cloud_channel:
"/apollo/sensor/lslidarCH64w/PointCloud2"
6 # sample ONLINE_LIDAR, RAW_PACKET
7 source_type: ONLINE_LIDAR
11device_ip:
"192.168.1.200"
15time_synchronization:
false
23calibration_file:
"modules/drivers/lidar/lslidar/params/LSCH64w_calibration.yaml"
26bottom_left_x: 0.0 #左下 x值
27bottom_left_y: 0.0 #左下 y值
28top_right_x: 0.0 #右上 x值
29top_right_y: 0.0 #右上 y值
30pcap_path:
"/ch64w_201.pcap" #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