浏览该文件的文档. 1# Define all coms in DAG streaming.
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8 module_library :
"modules/drivers/lidar/velodyne/driver/libvelodyne_driver_component.so"
12 class_name :
"VelodyneDriverComponent"
14 name :
"velodyne_128_driver"
15 config_file_path :
"modules/drivers/lidar/velodyne/conf/velodyne128_conf.pb.txt"
21 class_name :
"VelodyneDriverComponent"
23 name :
"velodyne_16_up_center_driver"
24 config_file_path :
"modules/drivers/lidar/velodyne/conf/velodyne16_up_center_conf.pb.txt"
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34 module_library :
"modules/drivers/lidar/velodyne/parser/libvelodyne_convert_component.so"
38 class_name :
"VelodyneConvertComponent"
40 name :
"velodyne_128_convert"
41 config_file_path :
"modules/drivers/lidar/velodyne/conf/velodyne128_conf.pb.txt"
43 channel:
"/apollo/sensor/lidar128/Scan"
50 class_name :
"VelodyneConvertComponent"
52 name :
"velodyne_16_rear_right_convert"
53 config_file_path :
"modules/drivers/lidar/velodyne/conf/velodyne16_up_center_conf.pb.txt"
55 channel:
"/apollo/sensor/lidar16/up/center/Scan"
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63##################################################
66 module_library :
"modules/drivers/lidar/velodyne/fusion/libvelodyne_fusion_component.so"
69 class_name :
"PriSecFusionComponent"
71 name :
"velodyne_fusion"
72 config_file_path :
"modules/drivers/lidar/velodyne/conf/velodyne_fusion_conf.pb.txt"
73 readers {channel:
"/apollo/sensor/lidar16/up/center/PointCloud2"}
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81##################################################
84 module_library :
"modules/drivers/lidar/velodyne/compensator/libvelodyne_compensator_component.so"
87 class_name :
"CompensatorComponent"
89 name :
"velodyne16_fusion_compensator"
90 config_file_path :
"modules/drivers/lidar/velodyne/conf/velodyne16_fusion_compensator.pb.txt"
91 readers {channel:
"/apollo/sensor/lidar16/fusion/PointCloud2"}
97 module_library :
"modules/drivers/lidar/velodyne/compensator/libvelodyne_compensator_component.so"
100 class_name :
"CompensatorComponent"
102 name :
"velodyne128_compensator"
103 config_file_path :
"modules/drivers/lidar/velodyne/conf/velodyne128_fusion_compensator.pb.txt"
104 readers {channel:
"/apollo/sensor/lidar128/PointCloud2"}