Parameter Introduction¶
This document will give you a introduction to each parameter in the configuration file.
1 driver parameter¶
For convenient, we take rs16.pb.txt as an example.
model: "RS16"
frame_id: "rslidar_16"
ip: "192.168.1.200"
msop_port: 6699
difop_port: 7788
echo_mode: 1
start_angle: 0
end_angle: 360
min_distance: 0
max_distance: 200
cut_angle: 0
pointcloud_channel: "/apollo/sensor/rs16/PointCloud2"
scan_channel: "/apollo/sensor/rs16/Scan"
use_lidar_clock: false
model
This is the lidar model, since this configuration file is for RS16, we set the model=“RS16”.
frame_id
This is the frame_id value in the lidar messages.
ip
This is the lidar ip address. The default value is “192.168.1.200”.
msop_port
This is the msop port number of lidar. The default value is 6699.
difop_port
This is the difop port number of lidar. The default value is 7788.
echo_mode
This is the echo_mode of lidar.
start_angle
The start angle of point cloud.
end_angle
The end angle of point cloud.
min_distance
The minimum distance of point cloud.
max_distance
The maximum distance of point cloud.
cut_angle
The angle to split frames.
pointcloud_channel
The channel name of point cloud.
scan_channel
The channel name of scan message.
use_lidar_clock
True: The timestamp of lidar messages is the lidar clock.
False: The timestamp of lidar messages is the PC system clock.