In the following examples, Velodyne's lidar sensors are connected directly to the target.
The minimum of 384 for the packet_size should be specified for lidar (Velodyne), which represents approximately 20 degrees of data.
Velodyne Puck VLP-16:
begin SENSOR_UNIT_1 type = lidar name = vlp-16 direction = 0,0,0 position = 1000,0,1100 address = 10.10.10.10, velodyne_vlp-16 packet_size = 5760 data_format = SENSOR_FORMAT_LIDAR_POINT_CLOUD rotation_per_minute = 600 return_mode = strongest lidar_fov = 360 udp_data_port = 2369 udp_position_port = 8308 end SENSOR_UNIT_1
Velodyne VLP-16 High-Res:
begin SENSOR_UNIT_1 type = lidar name = vlp-16 direction = 0,0,0 position = 1000,0,1100 address = 10.10.10.10, velodyne_vlp-16-high-res packet_size = 5760 data_format = SENSOR_FORMAT_LIDAR_POINT_CLOUD rotation_per_minute = 600 return_mode = strongest lidar_fov = 360 udp_data_port = 2369 udp_position_port = 8308 end SENSOR_UNIT_1