lslidartest_conf.pb.txt 文件参考

浏览源代码.

变量
	config_base
	__pad0__

变量说明

__pad0__

__pad0__

在文件 lslidartest_conf.pb.txt 第 2 行定义.

config_base

config_base

初始值:

{
  scan_channel: "/apollo/sensor/lslidar1v4/Scan"
  point_cloud_channel: "/apollo/sensor/lslidar1v4/PointCloud2"
  frame_id: "lslidar1v4"
 
 
  source_type: ONLINE_LIDAR
}
 
model: LSLIDAR_C1_V4
device_ip: "192.168.1.200"
msop_port: 2368
difop_port: 2369
return_mode: 1
degree_mode: 2        #2: 均匀2度校准两列  1:
distance_unit: 0.4
packet_size: 1212
time_synchronization: true
add_multicast: false
group_ip: "224.1.1.2"
rpm: 600                      #雷达转速     10hz:600rpm

在文件 lslidartest_conf.pb.txt 第 2 行定义.

              : "/apollo/sensor/lslidar1v4/Scan"
  point_cloud_channel: "/apollo/sensor/lslidar1v4/PointCloud2"
  frame_id: "lslidar1v4"
 
  # sample ONLINE_LIDAR, RAW_PACKET
  source_type: ONLINE_LIDAR
}