common:
  msg_source:
    1 # 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
  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
lidar:
  - driver:
      lidar_type:
        RSAIRY #  LiDAR type - RS16, RS32, RSBP, RSAIRY, RSHELIOS, RSHELIOS_16P, RS128, RS80, RS48, RSP128, RSP80, RSP48,
        #               RSM1, RSM1_JUMBO, RSM2, RSM3, RSE1, RSMX.

      msop_port: 6699 #  Msop port of lidar
      difop_port: 7788 #  Difop port of lidar
      imu_port:
        0 #  IMU port of lidar(only for RSAIRY, RSE1), 0 means no imu.
        #  If you want to use IMU, please first set ENABLE_IMU_DATA_PARSE to ON in CMakeLists.txt
      user_layer_bytes: 0 #  Bytes of user layer. thers is no user layer if it is 0
      tail_layer_bytes: 0 #  Bytes of tail layer. thers is no tail layer if it is 0

      min_distance: 0.01 #  Minimum distance of point cloud
      max_distance: 200 #  Maximum distance of point cloud
      use_lidar_clock:
        true #  true--Use the lidar clock as the message timestamp
        #  false-- Use the system clock as the timestamp
      dense_points: false #  true: discard NAN points; false: reserve NAN points

      ts_first_point:
        true #  true: time-stamp point cloud with the first point; false: with the last point;
        #  these parameters are used from mechanical lidar

      start_angle: 0 #  Start angle of point cloud
      end_angle:
        360 #  End angle of point cloud


        #  When msg_source is 3, the following parameters will be used
      pcap_repeat: true #  true: The pcap bag will repeat play
      pcap_rate: 1.0 #  Rate to read the pcap file
      pcap_path: /home/robosense/lidar.pcap #The path of pcap file

    ros:
      ros_frame_id: rslidar #Frame id of packet message and point cloud message
      ros_recv_packet_topic: /rslidar_packets #Topic used to receive lidar packets from ROS
      ros_send_packet_topic: /rslidar_packets #Topic used to send lidar packets through ROS
      ros_send_imu_data_topic: /rslidar_imu_data #Topic used to send imu data through ROS
      ros_send_point_cloud_topic: /rslidar_points #Topic used to send point cloud through ROS
      ros_queue_length: 100 #Topic QoS history depth