velodyne128.dag

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# Define all coms in DAG streaming.
module_config {
    module_library : "modules/drivers/lidar/velodyne/driver/libvelodyne_driver_component.so"
 
    components {
      class_name : "VelodyneDriverComponent"
      config {
        name : "velodyne_driver"
        config_file_path : "modules/drivers/lidar/velodyne/conf/velodyne128_conf.pb.txt"
      }
    }
}
 
module_config {
    module_library : "modules/drivers/lidar/velodyne/parser/libvelodyne_convert_component.so"
 
    components {
      class_name : "VelodyneConvertComponent"
      config {
        name : "velodyne_convert"
        config_file_path : "modules/drivers/lidar/velodyne/conf/velodyne128_conf.pb.txt"
        readers {channel: "/apollo/sensor/lidar128/Scan"}
      }
    }
}
 
module_config {
    module_library : "modules/drivers/lidar/velodyne/compensator/libvelodyne_compensator_component.so"
 
    components {
      class_name : "CompensatorComponent"
      config {
        name : "velodyne_compensator"
        config_file_path : "modules/drivers/lidar/velodyne/conf/velodyne128_fusion_compensator.pb.txt"
        readers {channel: "/apollo/sensor/lidar128/PointCloud2"}
      }
    }
}