Apollo 10.0
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velodyne_64_16.dag
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1# Define all coms in DAG streaming.
2
3##################################################
4# drivers #
5##################################################
6
7module_config {
8 module_library : "modules/drivers/lidar/velodyne/driver/libvelodyne_driver_component.so"
9
10 # 64
11 components {
12 class_name : "VelodyneDriverComponent"
13 config {
14 name : "velodyne_64_driver"
15 config_file_path : "modules/drivers/lidar/velodyne/conf/velodyne64_conf.pb.txt"
16 }
17 }
18 # 16_front_up
19 components {
20 class_name : "VelodyneDriverComponent"
21 config {
22 name : "velodyne_16_front_up_driver"
23 config_file_path : "modules/drivers/lidar/velodyne/conf/velodyne16_front_up_conf.pb.txt"
24 }
25 }
26 # 16_front_center
27 components {
28 class_name : "VelodyneDriverComponent"
29 config {
30 name : "velodyne_16_front_center_driver"
31 config_file_path : "modules/drivers/lidar/velodyne/conf/velodyne16_front_center_conf.pb.txt"
32 }
33 }
34 # 16_rear_left
35 components {
36 class_name : "VelodyneDriverComponent"
37 config {
38 name : "velodyne_16_rear_left_driver"
39 config_file_path : "modules/drivers/lidar/velodyne/conf/velodyne16_rear_left_conf.pb.txt"
40 }
41 }
42 # 16_rear_right
43 components {
44 class_name : "VelodyneDriverComponent"
45 config {
46 name : "velodyne_16_rear_right_driver"
47 config_file_path : "modules/drivers/lidar/velodyne/conf/velodyne16_rear_right_conf.pb.txt"
48 }
49 }
50}
51
52##################################################
53# convert #
54##################################################
55
56module_config {
57 module_library : "modules/drivers/lidar/velodyne/parser/libvelodyne_convert_component.so"
58
59 # 64
60 components {
61 class_name : "VelodyneConvertComponent"
62 config {
63 name : "velodyne_64_convert"
64 config_file_path : "modules/drivers/lidar/velodyne/conf/velodyne64_conf.pb.txt"
65 readers {
66 channel: "/apollo/sensor/velodyne64/VelodyneScan"
67 }
68 }
69 }
70 # 16_front_up_center
71 components {
72 class_name : "VelodyneConvertComponent"
73 config {
74 name : "velodyne_16_front_up_convert"
75 config_file_path : "modules/drivers/lidar/velodyne/conf/velodyne16_front_up_conf.pb.txt"
76 readers {
77 channel: "/apollo/sensor/lidar16/front/up/Scan"
78 }
79 }
80 }
81 # 16_front_center
82 components {
83 class_name : "VelodyneConvertComponent"
84 config {
85 name : "velodyne_16_front_center_convert"
86 config_file_path : "modules/drivers/lidar/velodyne/conf/velodyne16_front_center_conf.pb.txt"
87 readers {
88 channel: "/apollo/sensor/lidar16/front/center/Scan"
89 }
90 }
91 }
92 # 16_rear_left
93 components {
94 class_name : "VelodyneConvertComponent"
95 config {
96 name : "velodyne_16_rear_left_convert"
97 config_file_path : "modules/drivers/lidar/velodyne/conf/velodyne16_rear_left_conf.pb.txt"
98 readers {
99 channel: "/apollo/sensor/lidar16/rear/left/Scan"
100 }
101 }
102 }
103 # 16_rear_right
104 components {
105 class_name : "VelodyneConvertComponent"
106 config {
107 name : "velodyne_16_rear_right_convert"
108 config_file_path : "modules/drivers/lidar/velodyne/conf/velodyne16_rear_right_conf.pb.txt"
109 readers {
110 channel: "/apollo/sensor/lidar16/rear/right/Scan"
111 }
112 }
113 }
114}
115
116##################################################
117# fusion #
118##################################################
119
120module_config {
121 module_library : "modules/drivers/lidar/velodyne/fusion/libvelodyne_fusion_component.so"
122
123 components {
124 class_name : "PriSecFusionComponent"
125 config {
126 name : "velodyne_fusion"
127 config_file_path : "modules/drivers/lidar/velodyne/conf/velodyne_fusion_conf.pb.txt"
128 readers {channel: "/apollo/sensor/lidar16/front/center/PointCloud2"}
129 }
130 }
131}
132
133
134##################################################
135# compensation #
136##################################################
137
138module_config {
139 module_library : "modules/drivers/lidar/velodyne/compensator/libvelodyne_compensator_component.so"
140
141 components {
142 class_name : "CompensatorComponent"
143 config {
144 name : "velodyne16_fusion_compensator"
145 config_file_path : "modules/drivers/lidar/velodyne/conf/velodyne16_fusion_compensator.pb.txt"
146 readers {channel: "/apollo/sensor/lidar16/fusion/PointCloud2"}
147 }
148 }
149}
150
151module_config {
152 module_library : "modules/drivers/lidar/velodyne/compensator/libvelodyne_compensator_component.so"
153
154 components {
155 class_name : "CompensatorComponent"
156 config {
157 name : "velodyne16_front_up_compensator"
158 config_file_path : "modules/drivers/lidar/velodyne/conf/velodyne16_front_up_compensator.pb.txt"
159 readers {channel: "/apollo/sensor/lidar16/front/up/PointCloud2"}
160 }
161 }
162}
163
164module_config {
165 module_library : "modules/drivers/lidar/velodyne/compensator/libvelodyne_compensator_component.so"
166
167 components {
168 class_name : "CompensatorComponent"
169 config {
170 name : "velodyne64_compensator"
171 config_file_path : "modules/drivers/lidar/velodyne/conf/velodyne64_compensator.pb.txt"
172 readers {channel: "/apollo/sensor/velodyne64/PointCloud2"}
173 }
174 }
175}
176
177