Apollo
10.0
自动驾驶开放平台
rslidar.pb.txt
浏览该文件的文档.
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config_base
{
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scan_channel:
"/apollo/sensor/rslidar/up/Scan"
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point_cloud_channel:
"/apollo/sensor/rslidar/up/PointCloud2"
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frame_id
:
"rslidar_up"
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# sample ONLINE_LIDAR, RAW_PACKET
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source_type: ONLINE_LIDAR
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}
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# sample: "RS16", "RS32", "RS80", "RS128", "RSBP", "RSHELIOS", "RSHELIOS_16P", "RSM1"
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model:
"RS16"
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ip:
"192.168.2.200"
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msop_port: 6699
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difop_port: 7788
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echo_mode: 1
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start_angle: 0
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end_angle: 360
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min_distance: 0.2
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max_distance: 200
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cut_angle: 0
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split_frame_node: 1
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num_pkts_split: 0
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use_lidar_clock:
true
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dense_points:
false
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ts_first_point:
false
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wait_for_difop:
true
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config_from_file:
false
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angle_path:
""
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split_angle: 0.0
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send_raw_packet:
true
config_base
config_base
Definition
hslidar.pb.txt:2
apollo::drivers::robosense::frame_id
std::string frame_id
Point cloud frame id
Definition
point_cloud_msg.h:51
modules
drivers
lidar
rslidar
conf
rslidar.pb.txt