Apollo 10.0
自动驾驶开放平台
velodyne.proto
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1syntax = "proto2";
2
3package apollo.drivers.velodyne;
4
6
7enum Model {
8 UNKNOWN = 0;
12 HDL32E = 4;
13 VLP16 = 5;
14 VLP32C = 6;
15 VLS128 = 7;
16}
17
18enum Mode {
20 LAST = 2;
21 DUAL = 3;
22}
23
25 optional uint64 stamp = 1;
26 optional bytes data = 2;
27}
28
29message VelodyneScan {
30 optional apollo.common.Header header = 1;
31 optional Model model = 2; // velodyne device model
32 optional Mode mode = 3; // velodyne work mode
33
34 repeated VelodynePacket firing_pkts = 4;
35
36 // for HDL32 and VLP16
37 repeated VelodynePacket positioning_pkts = 5;
38 // velodyne device serial number, corresponds to a specific calibration file
39 optional string sn = 6;
40 optional uint64 basetime = 7 [default = 0];
41}
apollo::common
class register implement
Definition arena_queue.h:37
syntax
Definition velodyne.proto:1