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Create lsx10.yaml

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bjoernellens1 2023-11-20 12:34:44 +01:00 committed by GitHub
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/lslidar_driver_node:
ros__parameters:
frame_id: laser_frame #激光坐标
group_ip: 224.1.1.2
add_multicast: false
device_ip: 192.168.1.200 #雷达源IP
device_ip_difop: 192.168.1.102 #雷达目的ip
msop_port: 2368 #雷达目的端口号
difop_port: 2369 #雷达源端口号
lidar_name: N10 #雷达选择:M10 M10_P M10_PLUS M10_GPS N10 L10 N10_P
angle_disable_min: 0.0 #角度裁剪开始值
angle_disable_max: 0.0 #角度裁剪结束值
min_range: 0.0 #雷达接收距离最小值
max_range: 200.0 #雷达接收距离最大值
use_gps_ts: false #雷达是否使用GPS授时
scan_topic: /scan #设置激光数据topic名称
interface_selection: serial #接口选择:net 为网口,serial 为串口。
serial_port_: /dev/ttyUSB0 #串口连接时的串口号
high_reflection: false #M10_P雷达需填写该值,若不确定，请联系技术支持。
compensation: false #M10系列是否使用角度补偿功能
pubScan: true #是否发布scan话题
pubPointCloud2: false #是否发布pointcloud2话题
pointcloud_topic: /lslidar_point_cloud #设置激光数据topic名称
# pcap: /home/ls/1.pcap #雷达是否使用pcap包读取功能
# in_file_name: /home/ls/1.txt #雷达是否使用txt文件读取功能