Apollo 10.0
自动驾驶开放平台
velodyne_calibration.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 # 128
11 components {
12 class_name : "VelodyneDriverComponent"
13 config {
14 name : "velodyne_128_driver"
15 config_file_path : "modules/drivers/lidar/velodyne/conf/velodyne128_conf.pb.txt"
16 }
17 }
18
19 # 16_up_center
20 components {
21 class_name : "VelodyneDriverComponent"
22 config {
23 name : "velodyne_16_up_center_driver"
24 config_file_path : "modules/drivers/lidar/velodyne/conf/velodyne16_up_center_conf.pb.txt"
25 }
26 }
27}
28
29##################################################
30# convert #
31##################################################
32
33module_config {
34 module_library : "modules/drivers/lidar/velodyne/parser/libvelodyne_convert_component.so"
35
36 # 128
37 components {
38 class_name : "VelodyneConvertComponent"
39 config {
40 name : "velodyne_128_convert"
41 config_file_path : "modules/drivers/lidar/velodyne/conf/velodyne128_conf.pb.txt"
42 readers {
43 channel: "/apollo/sensor/lidar128/Scan"
44 }
45 }
46 }
47
48 # 16_up_center
49 components {
50 class_name : "VelodyneConvertComponent"
51 config {
52 name : "velodyne_16_rear_right_convert"
53 config_file_path : "modules/drivers/lidar/velodyne/conf/velodyne16_up_center_conf.pb.txt"
54 readers {
55 channel: "/apollo/sensor/lidar16/up/center/Scan"
56 }
57 }
58 }
59}
60
61##################################################
62# fusion #
63##################################################
64
65module_config {
66 module_library : "modules/drivers/lidar/velodyne/fusion/libvelodyne_fusion_component.so"
67
68 components {
69 class_name : "PriSecFusionComponent"
70 config {
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"}
74 }
75 }
76}
77
78
79##################################################
80# compensation #
81##################################################
82
83module_config {
84 module_library : "modules/drivers/lidar/velodyne/compensator/libvelodyne_compensator_component.so"
85
86 components {
87 class_name : "CompensatorComponent"
88 config {
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"}
92 }
93 }
94}
95
96module_config {
97 module_library : "modules/drivers/lidar/velodyne/compensator/libvelodyne_compensator_component.so"
98
99 components {
100 class_name : "CompensatorComponent"
101 config {
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"}
105 }
106 }
107}
108
109