velodyne_config.proto

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syntax = "proto2";
 
package apollo.drivers.velodyne;
 
import "modules/drivers/lidar/proto/velodyne.proto";
 
message Config {
  optional string frame_id = 1;
  optional string scan_channel = 2;
  optional double rpm = 3 [default = 600.0];
  optional Model model = 4;
  optional Mode mode = 21;
  optional string pcap = 5;
  optional int32 prefix_angle = 6;
  optional int32 firing_data_port = 7;
  optional int32 positioning_data_port = 8;
  optional bool use_sensor_sync = 9;
  optional double max_range = 10;
  optional double min_range = 11;
  optional double max_angle = 12;
  optional double min_angle = 13;
  optional double view_direction = 14;
  optional double view_width = 15;
  optional bool calibration_online = 16;
  optional string calibration_file = 17;
  optional bool organized = 18;
  optional string convert_channel_name = 19;
  optional int32 npackets = 20;
  optional bool use_gps_time = 23;
  optional bool use_poll_sync = 24;
  optional bool is_main_frame = 25;
}
 
message FusionConfig {
  optional uint32 max_interval_ms = 1;
  optional bool drop_expired_data = 2;
  optional string fusion_channel = 3;
  repeated string input_channel = 4;
  optional float wait_time_s = 5;
}
 
message CompensatorConfig {
  optional string output_channel = 1;
  optional float transform_query_timeout = 2 [default = 0.02];
  optional string world_frame_id = 3 [default = "world"];
  optional string target_frame_id = 4;
  optional uint32 point_cloud_size = 5;
}