51 lines
2.4 KiB
YAML
51 lines
2.4 KiB
YAML
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common:
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msg_source:
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1 # 0: not use Lidar
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# 1: packet message comes from online Lidar
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# 2: packet message comes from ROS or ROS2
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# 3: packet message comes from Pcap file
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send_packet_ros: false # true: Send packets through ROS or ROS2(Used to record packet)
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send_point_cloud_ros: true # true: Send point cloud through ROS or ROS2
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lidar:
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- driver:
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lidar_type:
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RSAIRY # LiDAR type - RS16, RS32, RSBP, RSAIRY, RSHELIOS, RSHELIOS_16P, RS128, RS80, RS48, RSP128, RSP80, RSP48,
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# RSM1, RSM1_JUMBO, RSM2, RSM3, RSE1, RSMX.
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msop_port: 6699 # Msop port of lidar
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difop_port: 7788 # Difop port of lidar
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imu_port:
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0 # IMU port of lidar(only for RSAIRY, RSE1), 0 means no imu.
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# If you want to use IMU, please first set ENABLE_IMU_DATA_PARSE to ON in CMakeLists.txt
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user_layer_bytes: 0 # Bytes of user layer. thers is no user layer if it is 0
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tail_layer_bytes: 0 # Bytes of tail layer. thers is no tail layer if it is 0
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min_distance: 0.01 # Minimum distance of point cloud
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max_distance: 200 # Maximum distance of point cloud
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use_lidar_clock:
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true # true--Use the lidar clock as the message timestamp
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# false-- Use the system clock as the timestamp
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dense_points: false # true: discard NAN points; false: reserve NAN points
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ts_first_point:
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true # true: time-stamp point cloud with the first point; false: with the last point;
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# these parameters are used from mechanical lidar
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start_angle: 0 # Start angle of point cloud
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end_angle:
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360 # End angle of point cloud
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# When msg_source is 3, the following parameters will be used
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pcap_repeat: true # true: The pcap bag will repeat play
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pcap_rate: 1.0 # Rate to read the pcap file
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pcap_path: /home/robosense/lidar.pcap #The path of pcap file
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ros:
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ros_frame_id: rslidar #Frame id of packet message and point cloud message
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ros_recv_packet_topic: /rslidar_packets #Topic used to receive lidar packets from ROS
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ros_send_packet_topic: /rslidar_packets #Topic used to send lidar packets through ROS
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ros_send_imu_data_topic: /rslidar_imu_data #Topic used to send imu data through ROS
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ros_send_point_cloud_topic: /rslidar_points #Topic used to send point cloud through ROS
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ros_queue_length: 100 #Topic QoS history depth
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