README

目录

• drivers-lidar
  • Introduction
  • Directory Structure
  • Modules
    • LidarDriverComponent
      • Input
      • Output
      • configs
      • How to Launch
  • 文档意见反馈

drivers-lidar

Introduction

This module consists of two parts, the first part is the LIDAR driver, which reads the LIDAR data and parses it when it starts. The second part is the LIDAR parser, which receives the raw radar data published by the driver and publishes the converted point cloud data.

Directory Structure

modules/drivers/lidar/
├── BUILD
├── common                      // common function and data structure
├── conf
├── cyberfile.xml
├── dag
├── hesai                       // hesai lidar drivers
├── launch
├── lidar_driver_component.cc
├── lidar_driver_component.h
├── lidar_robosense             
├── proto
├── README.md
├── robosense                   // robosense lidar drivers
└── velodyne                    // velodyne lidar drivers

Modules

LidarDriverComponent

apollo::drivers::lidar::LidarDriverComponent

Input

Name	Type	Description
socket	scan raw packet buffer	raw packet

Output

Name	Type	Description
msg	apollo::drivers::velodyne::VelodyneScan	scan raw output
msg	apollo::drivers::PointCloud	raw pointcloud
msg	apollo::drivers::PointCloud	compensation pointcloud

configs

file path	type / struct	Description
modules/drivers/lidar/lidar_config.pb.txt	apollo::drivers::lidar::config	lidar config

How to Launch

cyber_launch start modules/drivers/lidar/launch/driver.launch

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