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- #******************************************************************************
- # Copyright 2020 RoboSense All rights reserved.
- # Suteng Innovation Technology Co., Ltd. www.robosense.ai
- # This software is provided to you directly by RoboSense and might
- # only be used to access RoboSense LiDAR. Any compilation,
- # modification, exploration, reproduction and redistribution are
- # restricted without RoboSense's prior consent.
- # THIS SOFTWARE IS PROVIDED "AS IS" AND ANY EXPRESSED OR IMPLIED
- # WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES
- # OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
- # DISCLAIMED. IN NO EVENT SHALL ROBOSENSE BE LIABLE FOR ANY DIRECT,
- # INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
- # (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
- # SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION)
- # HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT,
- # STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING
- # IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- # POSSIBILITY OF SUCH DAMAGE.
- #****************************************************************************/
- common:
- msg_source: 3 #0: not use Lidar
- #1: packet message comes from online Lidar
- #2: packet message comes from ROS or ROS2
- #3: packet message comes from Pcap file
- #4: packet message comes from Protobuf-UDP
- #5: point cloud comes from Protobuf-UDP
- send_packet_ros: false #true: Send packets through ROS or ROS2(Used to record packet)
- send_point_cloud_ros: true #true: Send point cloud through ROS or ROS2
- send_packet_proto: false #true: Send packets through Protobuf-UDP
- send_point_cloud_proto: false #true: Send point cloud through Protobuf-UDP
- pcap_path: /home/lenotary/文档/ZED/lidar.pcap #The path of pcap file
- lidar:
- - driver:
- lidar_type: RS16 #The lidar type - RS16, RS32, RSBP, RS128, RS80
- frame_id: rslidar #The frame id of message
- device_ip: 192.168.1.200 #The device ip address
- msop_port: 6699 #The msop port of lidar,default is 6699
- difop_port: 7788 #The difop port of lidar, default is 7788
- start_angle: 0 #The start angle of point cloud area
- end_angle: 360 #The end angle of point cloud area
- min_distance: 0.2 #The minimum distance of point cloud area
- max_distance: 200 #The maximum distance of point cloud area
- use_lidar_clock: false #True--Use the lidar clock as the message timestamp;False-- Use the system clock as the timestamp
- angle_path: /home/robosense/angle.csv #The path of the angle calibration file. For the latest version lidars, there is no need to use this file.
- ros:
- ros_recv_packet_topic: /rslidar_packets #The topic which used to receive lidar packets from ROS
- ros_send_packet_topic: /rslidar_packets #The topic which used to send lidar packets through ROS
- ros_send_point_cloud_topic: /rslidar_points #The topic which used to send point cloud through ROS
- proto:
- point_cloud_recv_port: 60021 #The port number used for receiving point cloud
- point_cloud_send_port: 60021 #The port number which the point cloud will be send to
- point_cloud_send_ip: 127.0.0.1 #The ip address which the point cloud will be send to
- msop_recv_port: 60022 #The port number used for receiving lidar msop packets
- difop_recv_port: 60023 #The port number used for receiving lidar difop packets
- msop_send_port: 60022 #The port number which the msop packets will be send to
- difop_send_port: 60023 #The port number which the difop packets will be send to
- packet_send_ip: 127.0.0.1 #The ip address which the lidar packets will be send to
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