modules/drivers/lidar/seyond/README_en.md
seyond Seyond-Apollo Lidar Driver. support Falcon/Robin lidar.
All the drivers need to be excuted in Apollo docker environment.
cyber_launch start /apollo/modules/drivers/lidar/seyond/launch/seyond.launch
or
mainboard -d /apollo/modules/drivers/lidar/seyond/dag/seyond.dag
Default Topic：
| Parameter | Default Value | description |
|---|---|---|
| device_ip | 172.168.1.10 | lidar ip |
| port | 8010 | tcp port |
| udp_port | 8010 | udp port |
| reflectance_mode | true | false:intensiy mode true:reflectance_mode mode |
| multiple_return | 1 | lidar detection echo mode |
| coordinate_mode | 3 | convert the xyz direction of a point cloud, 0: lidar-default, 3: right-hand coordinate system |
| max_range | 2000.0 | point cloud display maximum distance (unit:m) |
| min_range | 0.4 | point cloud display minimun distance (unit:m) |
| log_level | "info" | limit log from lidar, can choose from (info warn error) |