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ldlidar.yaml
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# config/ldlidar.yaml
#
# Example configuration file to configure a `ldlidar_node`
/**:
ros__parameters:
general:
debug_mode: true # true to activate debug messages
comm:
direct_serial: false # false to use usb to serial converter
serial_port: "" # serial port name if `direct-serial` is true
lidar:
frame_id: "ldlidar_link" # TF frame name for the lidar
rot_verse: 1 # 0 -> `CLOCKWISE` / 1 -> `COUNTERCLOCKWISE` [ROS STANDARD]
units: 2 # 0 -> `MILLIMETERS` / 1 -> `CENTIMETERS` / 2 -> `METERS` [ROS STANDARD]
qos_history: 1 # 0 -> `RMW_QOS_POLICY_HISTORY_SYSTEM_DEFAULT` / 1 -> `RMW_QOS_POLICY_HISTORY_KEEP_LAST` / 2 -> `RMW_QOS_POLICY_HISTORY_KEEP_ALL`
qos_depth: 1 # History depth in case of `RMW_QOS_POLICY_HISTORY_KEEP_LAST`
qos_reliability: 1 # 0 -> `RMW_QOS_POLICY_RELIABILITY_SYSTEM_DEFAULT` / 1 -> `RMW_QOS_POLICY_RELIABILITY_RELIABLE` / 2 -> `RMW_QOS_POLICY_RELIABILITY_BEST_EFFORT`
qos_durability: 2 # 0 -> `RMW_QOS_POLICY_DURABILITY_SYSTEM_DEFAULT` / 1 -> `RMW_QOS_POLICY_DURABILITY_TRANSIENT_LOCAL` / 2 -> `RMW_QOS_POLICY_DURABILITY_VOLATILE`