Example: Sensor configuration file for lidar

In the following examples, Velodyne's lidar sensors are connected directly to the target.

A minimum of 384 for the packet_size should be specified for lidar (Velodyne), which represents approximately 20 degrees of data. Furthermore, packet_size can only be an integer multiple of 384, and cannot exceed 57984.

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