3 隐藏参数介绍
为了使配置文件config.yaml尽可能简洁,我们隐藏了部分不常用的参数,在代码中使用默认值。
本文档将详细介绍这些隐藏参数。用户可根据需要,将它们加入参数文件,重新设置。
3.1 common
common:
msg_source: 1
send_packet_ros: false
send_point_cloud_ros: false
3.2 lidar
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
group_address: 0.0.0.0
host_address: 0.0.0.0
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
ros_send_by_rows:
# 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
use_vlan: false
x: 0
y: 0
z: 0
roll: 0
pitch: 0
yaw: 0
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
ros_send_by_rows: false
config_from_file
– 默认值为false, 是否从外参文件读入雷达配置信息,仅用于调试,可忽略。angle_path
– angle.csv外参文件的路径,仅用于调试,可忽略。split_frame_mode
– 分帧模式设置,默认值为1
。1 – 角度分帧
2 – 固定block数分帧
3 – 自定义block数分帧
split_angle
– 用于分帧的角度(单位为度), 在split_frame_mode = 1
时才生效,默认值为0
。num_blks_split
– 用于分帧的包数,在split_frame_mode = 3
时才生效,默认值为1。wait_for_difop
– 若设置为false, 驱动将不会等待DIFOP包(包含配置数据,尤其是角度信息),而是立即解析MSOP包并发出点云。 默认值为true
,也就是必须要有DIFOP包才会进行点云解析。group_address
– 如果雷达为组播模式,此参数需要被设置为组播的地址。具体使用方式可以参考在线雷达 - 高级主题 。host_address
– 有两种情况需要这个选项。如果主机上通过多个IP地址接收多个雷达的数据,则可以将此参数指定为雷达的目标IP;如果设置了group_address,那也需要设置host_address,以便将这个IP地址的网卡加入组播组。x, y, z, roll, pitch, yaw
– 坐标变换参数,若启用了内核的坐标变换功能,将会使用此参数输出经过变换后的点云。x, y, z, 单位为米
, roll, pitch, yaw, 单位为弧度
。具体使用方式可以参考 坐标变换功能 。use_vlan
– 默认为false,指定是否使用vlan。如果pcap文件中的packet带vlan层,则需要设置这个选项为true。其他情况下不需要。在线雷达的情况下,协议层到达驱动时,已经剥离vlan层,所以不需要设置这个选项。ros_send_by_rows
只对机械式雷达有意义,且只有当dense_points = false时才有效。true – 发送点云时,按照一行一行的顺序排列点
false – 发送点云时,按照一列一列的顺序排列点