drivers-lidar

Introduction

This module consists of two parts, the first part is the LIDAR driver, which reads the LIDAR data and parses it when it starts. The second part is the LIDAR parser, which receives the raw radar data published by the driver and publishes the converted point cloud data.

Directory Structure

shell

modules/drivers/lidar/
├── BUILD
├── common                      // common function and data structure
├── conf
├── cyberfile.xml
├── dag
├── hesai                       // hesai lidar drivers
├── launch
├── lidar_driver_component.cc
├── lidar_driver_component.h
├── lidar_robosense             
├── proto
├── README.md
├── robosense                   // robosense lidar drivers
└── velodyne                    // velodyne lidar drivers

Modules

LidarDriverComponent

apollo::drivers::lidar::LidarDriverComponent

Input

Name	Type	Description
socket	scan raw packet buffer	raw packet

Output

Name	Type	Description
`msg`	`apollo::drivers::velodyne::VelodyneScan`	scan raw output
`msg`	`apollo::drivers::PointCloud`	raw pointcloud
`msg`	`apollo::drivers::PointCloud`	compensation pointcloud

configs

file path	type / struct	Description
`modules/drivers/lidar/lidar_config.pb.txt`	`apollo::drivers::lidar::config`	lidar config

How to Launch

bash

cyber_launch start modules/drivers/lidar/launch/driver.launch