package apollo.drivers.hesai

Get desktop application:
View/edit binary Protocol Buffers messages

Used in: lidar.config

• optional Model model = 1

• optional string ip = 2

• optional uint32 lidar_recv_port = 3

• optional uint32 gps_recv_port = 4

• optional uint32 start_angle = 5

• optional string pointcloud_channel = 6

• optional uint32 time_zone = 7

• optional string frame_id = 8

• optional string scan_channel = 9

• optional bool is_online_calibration = 11

• optional string calibration_file = 12

• optional uint32 tcp_cmd_port = 13

• optional common.Header header = 1

• optional Model model = 2

  hesai device model

• repeated HesaiScanPacket firing_pkts = 3

• optional uint64 basetime = 4

Used in: HesaiScan

• optional uint64 stamp = 1

• optional bytes data = 2

Used in: Config, HesaiScan

• UNKNOWN = 0

• HESAI40P = 1

• HESAI64 = 2