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docs: add vendor pages for parameters
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| # ROS parameters for supported sensors | ||
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| > **Note** | ||
| > | ||
| > The information on this page may be out of date. | ||
| > Please refer to the configuration in the relevant `*sensor_model*.param.yaml` file for you sensor, to confirm what parameters are available, | ||
| ## Common ROS parameters | ||
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| Parameters shared by all supported models: | ||
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| | Parameter | Type | Default | Accepted values | Description | | ||
| | ------------ | ------ | ---------------- | -------------------------- | ---------------- | | ||
| | sensor_model | string | | See supported models | | | ||
| | return_mode | string | | See supported return modes | | | ||
| | frame_id | string | Sensor dependent | | ROS frame ID | | ||
| | scan_phase | double | 0.0 | degrees [0.0, 360.0] | Scan start angle | | ||
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| ## Hesai specific parameters | ||
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| ### Supported return modes per model | ||
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| | Sensor model | return_mode | Mode | | ||
| | ------------ | -------------- | ------ | | ||
| | Pandar XT32M | Last | Single | | ||
| | Pandar XT32M | Strongest | Single | | ||
| | Pandar XT32M | LastStrongest | Dual | | ||
| | Pandar XT32M | First | Single | | ||
| | Pandar XT32M | LastFirst | Dual | | ||
| | Pandar XT32M | FirstStrongest | Dual | | ||
| | Pandar XT32M | Dual | Dual | | ||
| | --- | --- | --- | | ||
| | Pandar AT128 | Last | Single | | ||
| | Pandar AT128 | Strongest | Single | | ||
| | Pandar AT128 | LastStrongest | Dual | | ||
| | Pandar AT128 | First | Single | | ||
| | Pandar AT128 | LastFirst | Dual | | ||
| | Pandar AT128 | FirstStrongest | Dual | | ||
| | Pandar AT128 | Dual | Dual | | ||
| | --- | --- | --- | | ||
| | Pandar QT128 | Last | Single | | ||
| | Pandar QT128 | Strongest | Single | | ||
| | Pandar QT128 | LastStrongest | Dual | | ||
| | Pandar QT128 | First | Single | | ||
| | Pandar QT128 | LastFirst | Dual | | ||
| | Pandar QT128 | FirstStrongest | Dual | | ||
| | Pandar QT128 | Dual | Dual | | ||
| | --- | --- | --- | | ||
| | Pandar QT64 | Last | Single | | ||
| | Pandar QT64 | Dual | Dual | | ||
| | Pandar QT64 | First | Single | | ||
| | --- | --- | --- | | ||
| | Pandar 40P | Last | Single | | ||
| | Pandar 40P | Strongest | Single | | ||
| | Pandar 40P | Dual | Dual | | ||
| | --- | --- | --- | | ||
| | Pandar 64 | Last | Single | | ||
| | Pandar 64 | Strongest | Single | | ||
| | Pandar 64 | Dual | Dual | | ||
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| ### Hardware interface parameters | ||
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| | Parameter | Type | Default | Accepted values | Description | | ||
| | ------------------------------ | ------ | --------------- | ----------------- | ------------------------------ | | ||
| | frame_id | string | hesai | | ROS frame ID | | ||
| | sensor_ip | string | 192.168.1.201 | | Sensor IP | | ||
| | host_ip | string | 255.255.255.255 | | Host IP | | ||
| | data_port | uint16 | 2368 | | Sensor port | | ||
| | gnss_port | uint16 | 2369 | | GNSS port | | ||
| | frequency_ms | uint16 | 100 | milliseconds, > 0 | Time per scan | | ||
| | packet_mtu_size | uint16 | 1500 | | Packet MTU size | | ||
| | rotation_speed | uint16 | 600 | | Rotation speed | | ||
| | cloud_min_angle | uint16 | 0 | degrees [0, 360] | FoV start angle | | ||
| | cloud_max_angle | uint16 | 359 | degrees [0, 360] | FoV end angle | | ||
| | dual_return_distance_threshold | double | 0.1 | | Dual return distance threshold | | ||
| | diag_span | uint16 | 1000 | milliseconds, > 0 | Diagnostic span | | ||
| | setup_sensor | bool | True | True, False | Configure sensor settings | | ||
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| ### Driver parameters | ||
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| | Parameter | Type | Default | Accepted values | Description | | ||
| | ---------------- | ------ | ------- | --------------- | ---------------------- | | ||
| | frame_id | string | hesai | | ROS frame ID | | ||
| | calibration_file | string | | | LiDAR calibration file | | ||
| | correction_file | string | | | LiDAR correction file | | ||
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| ## Velodyne specific parameters | ||
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| ### Supported return modes | ||
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| | return_mode | Mode | | ||
| | --------------- | ------------------ | | ||
| | SingleFirst | Single (First) | | ||
| | SingleStrongest | Single (Strongest) | | ||
| | SingleLast | Single (Last) | | ||
| | Dual | Dual | | ||
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| ### Hardware interface parameters | ||
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| | Parameter | Type | Default | Accepted values | Description | | ||
| | --------------- | ------ | --------------- | ----------------- | --------------- | | ||
| | frame_id | string | velodyne | | ROS frame ID | | ||
| | sensor_ip | string | 192.168.1.201 | | Sensor IP | | ||
| | host_ip | string | 255.255.255.255 | | Host IP | | ||
| | data_port | uint16 | 2368 | | Sensor port | | ||
| | gnss_port | uint16 | 2369 | | GNSS port | | ||
| | frequency_ms | uint16 | 100 | milliseconds, > 0 | Time per scan | | ||
| | packet_mtu_size | uint16 | 1500 | | Packet MTU size | | ||
| | cloud_min_angle | uint16 | 0 | degrees [0, 360] | FoV start angle | | ||
| | cloud_max_angle | uint16 | 359 | degrees [0, 360] | FoV end angle | | ||
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| ### Driver parameters | ||
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| | Parameter | Type | Default | Accepted values | Description | | ||
| | ---------------- | ------ | -------- | ---------------- | ----------------------------- | | ||
| | frame_id | string | velodyne | | ROS frame ID | | ||
| | calibration_file | string | | | LiDAR calibration file | | ||
| | min_range | double | 0.3 | meters, >= 0.3 | Minimum point range published | | ||
| | max_range | double | 300.0 | meters, <= 300.0 | Maximum point range published | | ||
| | cloud_min_angle | uint16 | 0 | degrees [0, 360] | FoV start angle | | ||
| | cloud_max_angle | uint16 | 359 | degrees [0, 360] | FoV end angle | | ||
| The parameters for each sensor model are defined in `nebua_ros/schema/<sensor_model>.schema.json`. | ||
| The information here is generated from those schemas. |
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| {{ json_to_markdown("nebula_ros/schema/sub/radar_continental.json", ["definitions"], True) }} |
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| {{ json_to_markdown("nebula_ros/schema/sub/lidar_hesai.json", ["definitions"], True) }} |
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| {{ json_to_markdown("nebula_ros/schema/sub/lidar_robosense.json", ["definitions"], True) }} |
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| {{ json_to_markdown("nebula_ros/schema/sub/lidar_velodyne.json", ["definitions"], True) }} |
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