2024-02-04 08:18:52 +08:00
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lidar:
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- driver:
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pcap_play_synchronization: false # pcap play rate synchronize with the host time
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udp_port: 2368 #UDP port of lidar
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ptc_port: 9347 #PTC port of lidar
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device_ip_address: 192.168.123.20 #host_ip_address
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#pcap_path: "Your pcap file path" #The path of pcap file
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#correction_file_path: "Your correction file path" #The path of correction file
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#firetimes_path: "Your firetime file path" #The path of firetimes file
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source_type: 1 #The type of data source, 1: real-time lidar connection, 2: pcap, 3: packet rosbag
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frame_start_azimuth: -1 #Frame azimuth for Pandar128, range from 1 to 359, set it less than 0 if you
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#do not want to use it.
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#transform param
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x: 0
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y: 0
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z: 0
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roll: 0
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pitch: 0
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yaw: 0
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ros:
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2024-05-31 02:44:51 +08:00
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ros_frame_id: hesai #Frame id of packet message and point cloud message
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2024-02-04 08:18:52 +08:00
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ros_recv_packet_topic: go2/lidar_packets #Topic used to receive lidar packets from rosbag
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ros_send_packet_topic: go2/lidar_packets #Topic used to send lidar raw packets through ROS
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ros_send_point_cloud_topic: go2/lidar_points #Topic used to send point cloud through ROS
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2024-05-31 02:44:51 +08:00
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send_packet_ros: false #true: Send packets through ROS
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send_point_cloud_ros: true #true: Send point cloud through ROS
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