hesai_config.proto

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syntax = "proto2";
 
package apollo.drivers.hesai;
 
import "modules/drivers/lidar/proto/hesai.proto";
 
message Config {
  optional Model model = 1;
  optional string ip = 2 [default = "192.168.20.13"];
  optional uint32 lidar_recv_port = 3;
  optional uint32 gps_recv_port = 4;
  optional uint32 start_angle = 5;
  optional string pointcloud_channel = 6;
  optional uint32 time_zone = 7;
  optional string frame_id = 8;
  optional string scan_channel = 9;
  optional bool is_online_calibration = 11 [default = true];
  optional string calibration_file = 12;
  optional uint32 tcp_cmd_port = 13 [default = 9347];
}