Parameter Introduction

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

For convenient, we take vanjee_720_16 model as an example.

yaml

model: "vanjee_720_16"
connect_type: 1
host_msop_port: 3001
lidar_msop_port: 3333
host_address: "192.168.2.88"
lidar_address: "192.168.2.86"
publish_mode: 2
start_angle: 0
end_angle: 360
min_distance: 0.2
max_distance: 120
use_lidar_clock: false
dense_points: false
wait_for_difop: true
config_from_file: false
angle_path: ""

model

This is the lidar model, since this configuration file is for vanjee_720_16, we set the model="vanjee_720_16".The parameter are as followed below:vanjee_720_16,vanjee_720_32.

connect_type

This is the net connection model,which is tcp or udp.Set the connect_type="1" if the net connection mode is udp,otherwise set it as "2".

host_msop_port

This is the port number of host. The default value is 3001.Lidar would send the raw packet to this port.

lidar_msop_port

This is the port number of lidar. The default value is 3333.Lidar would send the raw packet from this port.

host_address

This is the host ip address. The default value is "192.168.2.88".Lidar would send the raw packet to this ip address.

lidar_address

This is the lidar ip address. The default value is "192.168.2.86".Lidar would send the raw packet from this ip address.

publish_mode

This is the publish mode of lidar point cloud. "0": publish the 1st echo ,"1":publish the 2nd echo ,"2":publish both the 1st and 2nd echos.

start_angle

The start angle of point cloud,unit:degree.

end_angle

The end angle of point cloud,unit:degree.The point cloud published would only include the azimuth between start_angle and end_angle.

min_distance

The minimum distance of point cloud,unit:m.

max_distance

The maximum distance of point cloud,unit:m.The point cloud published would only include the distance between min_distance and max_distance.

use_lidar_clock

true: The timestamp of lidar messages is the lidar clock.
false: The timestamp of lidar messages is the PC system clock.

dense_point

The flag whether mark the invald point cloud as 'nan'. If you would not mark the invalid point as 'nan',set the dense_point=true,otherwise set it as false.

wait_for_difop

The flag whether need to request the angle information from the lidar firstly. Usually set wait_for_difop=true in ONLINE_LIDAR mode,otherwise set it as false.

config_from_file

The flag whether read the angle information from the configuration file .Usually set config_from_file=true in RAW_PACKET mode,otherwise set it as false.

angle_path

The path of angle configuration file.