seyond_ros_driver/src/seyond_lidar_ros/config/config.yaml at main · DUT-Racing/seyond_ros_driver · GitHub

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common:
  log_level: info                                     #Log level: info, warn, error
  fusion_enable: false                                #Multi-lidar fusion enable
  fusion_topic: /iv_points_fusion                     #Multi-lidar fusion topic
lidars:
  - lidar:
      replay_rosbag: false                            #Replay rosbag
      packet_mode: false                              #Packet mode (true: packets + pointcloud, false: direct pointcloud)
      aggregate_num: 20                               #Aggregate number

      frame_id: seyond                                #Frame id
      packet_topic: /iv_packets                       #Packet topic
      frame_topic: /iv_points                         #Frame topic

      lidar_name: seyond                              #Lidar name
      lidar_ip: 172.168.1.10                          #Lidar ip
      port: 8010                                      #Lidar port
      udp_port: 8010                                  #Udp port
      reflectance_mode: true                          #Reflectance mode
      multiple_return: 1                              #Multiple return

      continue_live: false                            #Continue live

      pcap_file: ''                                   #Pcap file
      hv_table_file: ''                               #HV table file, for generic lidar's pcap file
      packet_rate: 10000                              #Packet rate
      file_rewind: 0                                  #File rewind

      max_range: 2000.0                               #Max range, unit: m
      min_range: 0.4                                  #Min range, unit: m
      name_value_pairs: ''                            #Extra string config
      coordinate_mode: 3                              #Coordinate mode, x/y/z, 0:up/right/forward 3:forward/left/up

      transform_enable: false                         #Transform enable
      x: 0.0                                          #X     unit: m
      y: 0.0                                          #Y     unit: m
      z: 0.0                                          #Z     unit: m
      pitch: 0.0                                      #Pitch unit: rad (-2pi, 2pi)
      yaw: 0.0                                        #Yaw   unit: rad (-2pi, 2pi)
      roll: 0.0                                       #Roll  unit: rad (-2pi, 2pi)

      transform_matrix: ''                            #Transformation matrix string