config_base {
  scan_channel: "/apollo/sensor/hesai40/Scan"
  point_cloud_channel: "/apollo/sensor/hesai40/PointCloud2"
  frame_id: "lidar16_back"

  # sample ONLINE_LIDAR, RAW_PACKET
  source_type: ONLINE_LIDAR
}

udp_port: 2368
ptc_port: 8308
device_ip: "192.168.20.13"
host_ip: "0.0.0.0"
correction_file_path: "/apollo/modules/drivers/lidar/hslidar/correction/angle_correction/Pandar40P_Angle_Correction_File.csv"
firetimes_path: "/apollo/modules/drivers/lidar/hslidar/correction/firetime_correction/Pandar40P_Firetime_Correction_File.csv"
source_type: 1 # The type of data source, 1: real-time lidar connection, 2: pcap, 3: from apollo record
pcap_path: "/media/apollo_record/at128/0205.pcap"
frame_start_azimuth: -1
convert_thread_nums: 2
# AT128 AT128E2X AT128E3X Pandar128E3X Pandar128 Pandar40S Pandar40E3X
# Pandar60S Pandar64E3X Pandar90 Pandar90E3X PandarXT
# PandarXT16 PandarXT-16
# PandarXT32 PandarXT-32
# PandarXTM XT32M2X
# PandarQT
# PandarQT128 QT128C2X
# Pandar64
# Pandar40 Pandar40P
# PandarFT120 FT120C1X
# ET25-E1X
# ET25-E2X ET25 ET
lidar_type: "Pandar40P"
