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