Parameter Introduction

This document will give you a introduction to each parameter in the configuration file.

For convenient, we take RS16 model as an example.

model: "RS16"	
ip: "192.168.1.200"
msop_port: 6699
difop_port: 7788
echo_mode: 1
start_angle: 0
end_angle: 360
min_distance: 0
max_distance: 200
cut_angle: 0
split_frame_node: 1
num_pkts_split: 0
use_lidar_clock: false

model

This is the lidar model, since this configuration file is for RS16, we set the model="RS16".

frame_id

This is the frame_id value in the lidar messages.

ip

This is the lidar ip address. The default value is "192.168.1.200".

msop_port

This is the msop port number of lidar. The default value is 6699.

difop_port

This is the difop port number of lidar. The default value is 7788.

echo_mode

This is the echo_mode of lidar.

start_angle

The start angle of point cloud.

end_angle

The end angle of point cloud.

min_distance

The minimum distance of point cloud.

max_distance

The maximum distance of point cloud.

cut_angle

The angle to split frames.

split_frame_node

The mode to split the LiDAR frames. Default value is 1

• 1 -- Spliting frames depending on the cut_angle
• 2 -- Spliting frames depending on a fixed number of packets
• 3 -- Spliting frames depending on num_pkts_split

pointcloud_channel

The channel name of point cloud.

scan_channel

The channel name of scan message.

use_lidar_clock

• True: The timestamp of lidar messages is the lidar clock.

• False: The timestamp of lidar messages is the PC system clock.