velodyne_lidar.dag

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# Define all coms in DAG streaming.
module_config {                                             
  module_library : "modules/drivers/lidar/liblidar_driver_component.so"
  components {
    class_name : "LidarDriverComponent"
    config {
      name : "lidar_driver"
      config_file_path : "modules/drivers/lidar/conf/lidar_config.pb.txt"
      readers {channel: "/apollo/sensor/lidar/driver"}
    }
  }
}
 
module_config {
    module_library : "modules/drivers/lidar/velodyne/parser/libvelodyne_convert_component.so"
 
    components {
      class_name : "VelodyneConvertComponent"
      config {
        name : "velodyne_convert"
        config_file_path : "modules/drivers/lidar/velodyne/conf/velodyne16_front_center_conf.pb.txt"
        readers {channel: "/apollo/sensor/lidar16/Scan"}
      }
    }
}
 
module_config {
    module_library : "modules/drivers/lidar/velodyne/compensator/libvelodyne_compensator_component.so"
 
    components {
      class_name : "CompensatorComponent"
      config {
        name : "velodyne_compensator"
        config_file_path : "modules/drivers/lidar/velodyne/conf/velodyne16_fusion_compensator.pb.txt"
        readers {channel: "/apollo/sensor/lidar16/PointCloud2"}
      }
    }
}