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update velodyne to cybertron version
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Original file line number | Diff line number | Diff line change |
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first check imutoantoffset saved in device, method below: | ||
screen /dev/ttyUSB2 | ||
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log imutoantoffsets | ||
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Original file line number | Diff line number | Diff line change |
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frame_id: "velodyne64" | ||
scan_channel: "/apollo/sensor/velodyne64/VelodyneScanUnified" | ||
rpm: 600.0 | ||
model: HDL64E_S3D | ||
mode: STRONGEST | ||
prefix_angle: 18000 | ||
firing_data_port: 2368 | ||
use_sensor_sync: false | ||
max_range: 100.0 | ||
min_range: 0.9 | ||
calibration_online: true | ||
calibration_file: "/home/caros/cybertron/params/velodyne64_S3_calibration.yaml" | ||
organized: false | ||
convert_channel_name: "/apollo/sensor/velodyne64/PointCloud2" | ||
compensator_channel_name: "/apollo/sensor/velodyne64/compensator/PointCloud2" |
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# Define all coms in DAG streaming. | ||
module_config { | ||
module_library : "/apollo/bazel-bin/modules/drivers/velodyne/driver/libvelodyne_driver_component.so" | ||
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components { | ||
class_name : "VelodyneDriverComponent" | ||
config { | ||
name : "velodyne_driver" | ||
config_file_path : "/apollo/modules/drivers/velodyne/conf/velodyne64_conf.pb.txt" | ||
readers {channel: ""} | ||
} | ||
} | ||
} | ||
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module_config { | ||
module_library : "/apollo/bazel-bin/modules/drivers/velodyne/parser/libvelodyne_convert_component.so" | ||
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components { | ||
class_name : "VelodyneConvertComponent" | ||
config { | ||
name : "velodyne_convert" | ||
config_file_path : "/apollo/modules/drivers/velodyne/conf/velodyne64_conf.pb.txt" | ||
readers {channel: "/apollo/sensor/velodyne64/VelodyneScan"} | ||
} | ||
} | ||
} | ||
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module_config { | ||
module_library : "/apollo/bazel-bin/modules/drivers/velodyne/parser/libvelodyne_compensator_component.so" | ||
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components { | ||
class_name : "VelodyneCompensatorComponent" | ||
config { | ||
name : "velodyne_compensator" | ||
config_file_path : "/apollo/modules/drivers/velodyne/conf/velodyne64_conf.pb.txt" | ||
readers {channel: "/apollo/sensor/velodyne64/PointCloud2"} | ||
} | ||
} | ||
} | ||
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load("//tools:cpplint.bzl", "cpplint") | ||
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package(default_visibility = ["//visibility:public"]) | ||
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cc_binary( | ||
name = "libvelodyne_driver_component.so", | ||
deps = [":velodyne_driver_component_lib"], | ||
linkopts = ["-shared"], | ||
) | ||
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cc_library( | ||
name = "velodyne_driver_component_lib", | ||
srcs = ["velodyne_driver_component.cc"], | ||
hdrs = ["velodyne_driver_component.h"], | ||
deps = [ | ||
"//modules/drivers/velodyne/driver:driver", | ||
"//modules/common/util:message_util", | ||
"//framework:cybertron", | ||
], | ||
copts = ['-DMODULE_NAME=\\"velodyne\\"'] | ||
) | ||
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cc_library( | ||
name = "driver", | ||
srcs = [ | ||
"driver.cc", | ||
"driver16.cc", | ||
"driver32.cc", | ||
"driver64.cc", | ||
"input.cc", | ||
"socket_input.cc", | ||
], | ||
hdrs = [ | ||
"driver.h", | ||
"input.h", | ||
"socket_input.h", | ||
], | ||
linkopts = [ | ||
"-lpcap", | ||
], | ||
deps = [ | ||
"//modules/common/util", | ||
"//modules/drivers/velodyne/proto:velodyne_proto", | ||
"//framework:cybertron", | ||
"@pcl", | ||
], | ||
) | ||
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cpplint() |
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