Apollo 10.0
自动驾驶开放平台
lslidarLS128S2_conf.pb.txt
浏览该文件的文档.
2 scan_channel: "/apollo/sensor/lslidarLS128S2/Scan"
3 point_cloud_channel: "/apollo/sensor/lslidarLS128S2/PointCloud2"
4 frame_id: "lslidarLS128S2"
5
6 # sample ONLINE_LIDAR, RAW_PACKET
7 source_type: ONLINE_LIDAR
8}
9
10model: LSLIDAR_LS128S2
11device_ip: "192.168.1.200"
12msop_port: 2368
13difop_port: 2369
14packet_size: 1206
15time_synchronization: false
16add_multicast: false
17group_ip: "224.1.1.2"
18rpm: 600
19frame_id: "lslidarLS128S2"
20min_range: 0.15
21max_range: 500.0
22scan_start_angle: -60.0
23scan_end_angle: 60.0
24calibration: false
25calibration_file: "modules/drivers/lidar/lslidar/params/LS128S2_calibration.yaml"
26
27#要屏蔽的矩形区域参数
28bottom_left_x: 0.0 #左下 x值
29bottom_left_y: 0.0 #左下 y值
30top_right_x: 0.0 #右上 x值
31top_right_y: 0.0 #右上 y值
32pcap_path: "" #读取pcap包,测试时使用,连接雷达的时候,将此值设置为空
config_base
Definition hslidar.pb.txt:2
std::string frame_id
Point cloud frame id