# 2 参数介绍 rslidar_sdk读取配置文件 ```config.yaml```，得到所有的参数。```config.yaml```在```rslidar_sdk/config```文件夹中。 **config.yaml遵循YAML格式。该格式对缩进有严格要求。修改config.yaml之后，请确保每行开头的缩进仍保持一致！** config.yaml包括两部分：common部分 和 lidar部分。 rslidar_sdk支持多个雷达。common部分为所有雷达共享。lidar部分，每一个子节点对应一个雷达，针对这个雷达的实际情况分别设置。 ## 2.1 common部分 common部分设置雷达消息的源（Packet或点云从哪来）和目标（Packet或点云发布到哪去）。 ```yaml common: msg_source: 1 send_packet_ros: false send_point_cloud_ros: false ``` - msg_source - 1 -- 连接在线雷达。更多使用细节，请参考[连接在线雷达并发送点云到ROS](../howto/06_how_to_decode_online_lidar_CN.md)。 - 2 -- 离线解析ROS/ROS2的Packet包。更多使用细节，请参考 [录制ROS数据包然后播放它](../howto/11_how_to_record_replay_packet_rosbag_CN.md)。 - 3 -- 离线解析PCAP包。更多使用细节，请参考[离线解析PCAP包并发送点云到ROS](../howto/08_how_to_decode_pcap_file_CN.md)。 - send_packet_ros - true -- 雷达Packet消息将通过ROS/ROS2发出 *雷达ROS packet消息为速腾聚创自定义ROS消息，用户使用ROS/ROS2 echo命令不能查看消息的具体内容。这个功能用于录制ROS/ROS2的Packet包，更多使用细节，请参考msg_source=2的情况。 - send_point_cloud_ros - true -- 雷达点云消息将通过ROS/ROS2发出 *点云消息的类型为ROS官方定义的点云类型sensor_msgs/PointCloud2, 用户可以使用Rviz直接查看点云。用户可以录制ROS/ROS2的点云包，但点云包的体积非常大，所以不建议这么做。更好的方式是录制Packet包，请参考send_packet_ros=true的情况。* ## 2.2 lidar部分 lidar部分根据每个雷达的实际情况进行设置。 ```yaml lidar: - driver: lidar_type: RSM1 # LiDAR type - RS16, RS32, RSBP, RSAIRY, RSHELIOS, RSHELIOS_16P, RS128, RS80, RS48, RSP128, RSP80, RSP48, # RSM1, RSM1_JUMBO, RSM2, RSM3, RSE1, RSMX. msop_port: 6699 # Msop port of lidar difop_port: 7788 # Difop port of lidar imu_port: 0 # IMU port of lidar(only for RSAIRY, RSE1), 0 means no imu. # If you want to use IMU, please first set ENABLE_IMU_DATA_PARSE to ON in CMakeLists.txt user_layer_bytes: 0 # Bytes of user layer. thers is no user layer if it is 0 tail_layer_bytes: 0 # Bytes of tail layer. thers is no tail layer if it is 0 min_distance: 0.2 # Minimum distance of point cloud max_distance: 200 # Maximum distance of point cloud use_lidar_clock: true # true--Use the lidar clock as the message timestamp # false-- Use the system clock as the timestamp dense_points: false # true: discard NAN points; false: reserve NAN points ts_first_point: true # true: time-stamp point cloud with the first point; false: with the last point; # these parameters are used from mechanical lidar start_angle: 0 # Start angle of point cloud end_angle: 360 # End angle of point cloud # When msg_source is 3, the following parameters will be used pcap_repeat: true # true: The pcap bag will repeat play pcap_rate: 1.0 # Rate to read the pcap file pcap_path: /home/robosense/lidar.pcap #The path of pcap file ros: ros_frame_id: rslidar #Frame id of packet message and point cloud message ros_recv_packet_topic: /rslidar_packets #Topic used to receive lidar packets from ROS ros_send_packet_topic: /rslidar_packets #Topic used to send lidar packets through ROS ros_send_imu_data_topic: /rslidar_imu_data #Topic used to send imu data through ROS ros_send_point_cloud_topic: /rslidar_points #Topic used to send point cloud through ROS ``` - lidar_type 支持的雷达型号在rslidar_sdk的README文件中列出。 - msop_port, difop_port, imu_port 接收MSOP/DIFOP/IMU Packet的msop端口号、difop端口号、 Imu端口号。 *若收不到消息，请优先确认这些参数是否配置正确。* - user_layer_bytes, tail_layer_bytes 用户自定义层和尾部层的字节数。默认为0。 - min_distance, max_distance 点云的最小距离和最大距离。这个设置是软件屏蔽，会将区域外的点设置为NAN点，不会减小每帧点云的体积。 - use_lidar_clock - true -- 使用雷达时间作为消息时间戳。 - false -- 使用电脑主机时间作为消息时间戳。 - dense_points 输出的点云中是否剔除NAN points。默认值为false。 - true 为剔除， - false为不剔除。 - ts_first_point 默认值为false。点云的时间戳是否第一个点的时间。true使用第一个点的时间，false使用第一个点的时间。 - start_angle, end_angle 点云消息的起始角度和结束角度。这个设置是软件屏蔽，将区域外的点设置为NAN点，不会减小每帧点云的体积。 start_angle和end_angle的范围是0~360°，**起始角可以大于结束角**. - pcap_path pcap包的路径。当 msg_source=3 时有效。 - pcap_rate pcap包播放的倍率。当 msg_source=3 时有效。 - pcap_repeat pcap包是否重复播放。当 msg_source=3 时有效。 ## 2.3 示例 ### 2.3.1 单台雷达 在线连接1台RSM1雷达，并发送点云数据到ROS。 ```yaml common: msg_source: 1 # 0: not use Lidar # 1: packet message comes from online Lidar # 2: packet message comes from ROS or ROS2 # 3: packet message comes from Pcap file send_packet_ros: false # true: Send packets through ROS or ROS2(Used to record packet) send_point_cloud_ros: true # true: Send point cloud through ROS or ROS2 lidar: - driver: lidar_type: RSM1 # LiDAR type - RS16, RS32, RSBP, RSAIRY, RSHELIOS, RSHELIOS_16P, RS128, RS80, RS48, RSP128, RSP80, RSP48, # RSM1, RSM1_JUMBO, RSM2, RSM3, RSE1, RSMX. msop_port: 6699 # Msop port of lidar difop_port: 7788 # Difop port of lidar imu_port: 0 # IMU port of lidar(only for RSAIRY, RSE1), 0 means no imu. # If you want to use IMU, please first set ENABLE_IMU_DATA_PARSE to ON in CMakeLists.txt user_layer_bytes: 0 # Bytes of user layer. thers is no user layer if it is 0 tail_layer_bytes: 0 # Bytes of tail layer. thers is no tail layer if it is 0 min_distance: 0.2 # Minimum distance of point cloud max_distance: 200 # Maximum distance of point cloud use_lidar_clock: true # true--Use the lidar clock as the message timestamp # false-- Use the system clock as the timestamp dense_points: false # true: discard NAN points; false: reserve NAN points ts_first_point: true # true: time-stamp point cloud with the first point; false: with the last point; # these parameters are used from mechanical lidar start_angle: 0 # Start angle of point cloud end_angle: 360 # End angle of point cloud # When msg_source is 3, the following parameters will be used pcap_repeat: true # true: The pcap bag will repeat play pcap_rate: 1.0 # Rate to read the pcap file pcap_path: /home/robosense/lidar.pcap #The path of pcap file ros: ros_frame_id: rslidar #Frame id of packet message and point cloud message ros_recv_packet_topic: /rslidar_packets #Topic used to receive lidar packets from ROS ros_send_packet_topic: /rslidar_packets #Topic used to send lidar packets through ROS ros_send_imu_data_topic: /rslidar_imu_data #Topic used to send imu data through ROS ros_send_point_cloud_topic: /rslidar_points #Topic used to send point cloud through ROS ``` ### 2.3.2 多台雷达 在线连接1台RSM1雷达和1台RSE1雷达，发送点云数据到ROS。 *注意lidar部分参数的缩进* ```yaml common: msg_source: 1 send_packet_ros: false send_point_cloud_ros: true lidar: - driver: lidar_type: RSM1 # LiDAR type - RS16, RS32, RSBP, RSAIRY, RSHELIOS, RSHELIOS_16P, RS128, RS80, RS48, RSP128, RSP80, RSP48, # RSM1, RSM1_JUMBO, RSM2, RSM3, RSE1, RSMX. msop_port: 6699 # Msop port of lidar difop_port: 7788 # Difop port of lidar imu_port: 0 # IMU port of lidar(only for RSAIRY, RSE1), 0 means no imu. # If you want to use IMU, please first set ENABLE_IMU_DATA_PARSE to ON in CMakeLists.txt user_layer_bytes: 0 # Bytes of user layer. thers is no user layer if it is 0 tail_layer_bytes: 0 # Bytes of tail layer. thers is no tail layer if it is 0 min_distance: 0.2 # Minimum distance of point cloud max_distance: 200 # Maximum distance of point cloud use_lidar_clock: true # true--Use the lidar clock as the message timestamp # false-- Use the system clock as the timestamp dense_points: false # true: discard NAN points; false: reserve NAN points ts_first_point: true # true: time-stamp point cloud with the first point; false: with the last point; # these parameters are used from mechanical lidar start_angle: 0 # Start angle of point cloud end_angle: 360 # End angle of point cloud # When msg_source is 3, the following parameters will be used pcap_repeat: true # true: The pcap bag will repeat play pcap_rate: 1.0 # Rate to read the pcap file pcap_path: /home/robosense/lidar.pcap #The path of pcap file ros: ros_frame_id: rslidar #Frame id of packet message and point cloud message ros_recv_packet_topic: /left/rslidar_packets #Topic used to receive lidar packets from ROS ros_send_packet_topic: /left/rslidar_packets #Topic used to send lidar packets through ROS ros_send_imu_data_topic: /left/rslidar_imu_data #Topic used to send imu data through ROS ros_send_point_cloud_topic: /left/rslidar_points #Topic used to send point cloud through ROS - driver: lidar_type: RSE1 # LiDAR type - RS16, RS32, RSBP, RSAIRY, RSHELIOS, RSHELIOS_16P, RS128, RS80, RS48, RSP128, RSP80, RSP48, # RSM1, RSM1_JUMBO, RSM2, RSM3, RSE1, RSMX. msop_port: 6699 # Msop port of lidar difop_port: 7788 # Difop port of lidar user_layer_bytes: 0 # Bytes of user layer. thers is no user layer if it is 0 tail_layer_bytes: 0 # Bytes of tail layer. thers is no tail layer if it is 0 min_distance: 0.2 # Minimum distance of point cloud max_distance: 200 # Maximum distance of point cloud use_lidar_clock: true # true--Use the lidar clock as the message timestamp # false-- Use the system clock as the timestamp dense_points: false # true: discard NAN points; false: reserve NAN points ts_first_point: true # true: time-stamp point cloud with the first point; false: with the last point; # these parameters are used from mechanical lidar start_angle: 0 # Start angle of point cloud end_angle: 360 # End angle of point cloud # When msg_source is 3, the following parameters will be used pcap_repeat: true # true: The pcap bag will repeat play pcap_rate: 1.0 # Rate to read the pcap file pcap_path: /home/robosense/lidar.pcap #The path of pcap file ros: ros_frame_id: rslidar #Frame id of packet message and point cloud message ros_recv_packet_topic: /right/rslidar_packets #Topic used to receive lidar packets from ROS ros_send_packet_topic: /right/rslidar_packets #Topic used to send lidar packets through ROS ros_send_imu_data_topic: /right/rslidar_imu_data #Topic used to send imu data through ROS ros_send_point_cloud_topic: /right/rslidar_points #Topic used to send point cloud through ROS ```