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LiDAR: improvement of velodyne LiDAR drivers #13762

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LiDAR: improvement of velodyne LiDAR drivers #13762

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e98b58f
Revert "Refactor Lidar drivers (#13245)"
storypku Mar 1, 2021
d6eed87
Drivers: deprecate unused member functions
storypku Mar 1, 2021
7d99e1e
LiDAR: improvement on velodyne lidar driver
storypku Apr 22, 2021
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24 changes: 0 additions & 24 deletions modules/drivers/lidar/BUILD
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31 changes: 0 additions & 31 deletions modules/drivers/lidar/common/driver_factory/BUILD
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71 changes: 0 additions & 71 deletions modules/drivers/lidar/common/driver_factory/driver_base.h
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62 changes: 0 additions & 62 deletions modules/drivers/lidar/common/driver_factory/lidar_driver_factory.cc
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76 changes: 0 additions & 76 deletions modules/drivers/lidar/common/driver_factory/lidar_driver_factory.h
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3 changes: 3 additions & 0 deletions modules/drivers/lidar/conf/lidar_compensator.pb.txt
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Original file line number Diff line number Diff line change
@@ -0,0 +1,3 @@
world_frame_id: "world"
transform_query_timeout: 0.02
output_channel: "/apollo/sensor/lidar16/compensator/PointCloud2"
18 changes: 18 additions & 0 deletions modules/drivers/lidar/conf/lidar_conf.pb.txt
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Original file line number Diff line number Diff line change
@@ -0,0 +1,18 @@
frame_id: "velodyne128"
scan_channel: "/apollo/sensor/lidar16/Scan"
rpm: 600.0
model: VLP16
mode: STRONGEST
prefix_angle: 18000
firing_data_port: 2369
positioning_data_port: 8309
use_sensor_sync: false
max_range: 100.0
min_range: 0.9
use_gps_time: true
calibration_online: false
calibration_file: "/apollo/modules/drivers/lidar/velodyne/params/VLP16_calibration.yaml"
organized: false
convert_channel_name: "/apollo/sensor/lidar16/PointCloud2"
use_poll_sync: true
is_main_frame: true
48 changes: 0 additions & 48 deletions modules/drivers/lidar/conf/lidar_config.pb.txt
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3 changes: 3 additions & 0 deletions modules/drivers/lidar/conf/lidar_fusion_compensator.pb.txt
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Original file line number Diff line number Diff line change
@@ -0,0 +1,3 @@
world_frame_id: "world"
transform_query_timeout: 0.02
output_channel: "/apollo/sensor/lidar16/compensator/PointCloud2"
24 changes: 13 additions & 11 deletions modules/drivers/lidar/dag/velodyne_lidar.dag → modules/drivers/lidar/dag/lidar.dag
100644 → 100755
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Original file line number Diff line number Diff line change
@@ -1,14 +1,14 @@
# Define all coms in DAG streaming.
module_config {
module_library : "/apollo/bazel-bin/modules/drivers/lidar/liblidar_driver_component.so"
components {
class_name : "LidarDriverComponent"
config {
name : "lidar_driver"
config_file_path : "/apollo/modules/drivers/lidar/conf/lidar_config.pb.txt"
readers {channel: "/apollo/sensor/lidar/driver"}
module_config {
module_library : "/apollo/bazel-bin/modules/drivers/lidar/velodyne/driver/libvelodyne_driver_component.so"

components {
class_name : "VelodyneDriverComponent"
config {
name : "velodyne_driver"
config_file_path : "/apollo/modules/drivers/lidar/conf/lidar_conf.pb.txt"
}
}
}
}

module_config {
Expand All @@ -18,7 +18,7 @@ module_config {
class_name : "VelodyneConvertComponent"
config {
name : "velodyne_convert"
config_file_path : "/apollo/modules/drivers/lidar/velodyne/conf/velodyne16_front_center_conf.pb.txt"
config_file_path : "/apollo/modules/drivers/lidar/conf/lidar_conf.pb.txt"
readers {channel: "/apollo/sensor/lidar16/Scan"}
}
}
Expand All @@ -31,8 +31,10 @@ module_config {
class_name : "CompensatorComponent"
config {
name : "velodyne_compensator"
config_file_path : "/apollo/modules/drivers/lidar/velodyne/conf/velodyne16_fusion_compensator.pb.txt"
config_file_path : "/apollo/modules/drivers/lidar/conf/lidar_fusion_compensator.pb.txt"
readers {channel: "/apollo/sensor/lidar16/PointCloud2"}
}
}
}


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