Initial commit

2026-07-27 13:51:19 +08:00
commit 7bec56ca51
5408 changed files with 1126933 additions and 0 deletions
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+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: RSHELIOS             #  LiDAR type - RS16, RS32, RSBP, RSAIRY, RSHELIOS, RSHELIOS_16P, RS128, RS80, RS48, RSP128, RSP80, RSP48,
+                                       #               RSM1, RSM1_JUMBO, RSM2, RSM3, RSE1, RSMX.
+                                   
+      msop_port: 2371              #  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: false        #  true--Use the lidar clock as the message timestamp
+                                   #  false-- Use the system clock as the timestamp
+      dense_points: true          #  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