Apollo 10.0
自动驾驶开放平台
rslidar.pb.txt
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2 scan_channel: "/apollo/sensor/rslidar/up/Scan"
3 point_cloud_channel: "/apollo/sensor/rslidar/up/PointCloud2"
4 frame_id: "rslidar_up"
5
6 # sample ONLINE_LIDAR, RAW_PACKET
7 source_type: ONLINE_LIDAR
8}
9
10# sample: "RS16", "RS32", "RS80", "RS128", "RSBP", "RSHELIOS", "RSHELIOS_16P", "RSM1"
11model: "RS16"
12ip: "192.168.2.200"
13msop_port: 6699
14difop_port: 7788
15echo_mode: 1
16start_angle: 0
17end_angle: 360
18min_distance: 0.2
19max_distance: 200
20cut_angle: 0
21split_frame_node: 1
22num_pkts_split: 0
23use_lidar_clock: true
24dense_points: false
25ts_first_point: false
26wait_for_difop: true
27config_from_file: false
28angle_path: ""
29split_angle: 0.0
30send_raw_packet: true
config_base
Definition hslidar.pb.txt:2
std::string frame_id
Point cloud frame id