package apollo.drivers.velodyne

Get desktop application:
View/edit binary Protocol Buffers messages

• optional string output_channel = 1

• optional float transform_query_timeout = 2

• optional string world_frame_id = 3

• optional string target_frame_id = 4

• optional uint32 point_cloud_size = 5

Used in: lidar.config

• optional string frame_id = 1

• optional string scan_channel = 2

• optional double rpm = 3

• optional Model model = 4

• optional Mode mode = 21

• optional string pcap = 5

• optional int32 prefix_angle = 6

• optional int32 firing_data_port = 7

• optional int32 positioning_data_port = 8

• optional bool use_sensor_sync = 9

• optional double max_range = 10

• optional double min_range = 11

• optional double max_angle = 12

• optional double min_angle = 13

• optional double view_direction = 14

• optional double view_width = 15

• optional bool calibration_online = 16

• optional string calibration_file = 17

• optional bool organized = 18

• optional string convert_channel_name = 19

• optional int32 npackets = 20

• optional bool use_gps_time = 23

• optional bool use_poll_sync = 24

• optional bool is_main_frame = 25

• optional uint32 max_interval_ms = 1

• optional bool drop_expired_data = 2

• optional string fusion_channel = 3

• repeated string input_channel = 4

• optional float wait_time_s = 5

Used in: Config, VelodyneScan

• STRONGEST = 1

• LAST = 2

• DUAL = 3

Used in: Config, VelodyneScan

• UNKNOWN = 0

• HDL64E_S3S = 1

• HDL64E_S3D = 2

• HDL64E_S2 = 3

• HDL32E = 4

• VLP16 = 5

• VLP32C = 6

• VLS128 = 7

Used in: VelodyneScan

• optional uint64 stamp = 1

• optional bytes data = 2

• optional common.Header header = 1

• optional Model model = 2

  velodyne device model

• optional Mode mode = 3

  velodyne work mode

• repeated VelodynePacket firing_pkts = 4

• repeated VelodynePacket positioning_pkts = 5

  for HDL32 and VLP16

• optional string sn = 6

  velodyne device serial number, corresponds to a specific calibration file

• optional uint64 basetime = 7