ROS parameters for supported sensors
Note
The information on this page may be out of date. Please refer to the configuration in the relevant
*sensor_model*.param.yamlfile for you sensor, to confirm what parameters are available,
Common ROS parameters
Parameters shared by all supported models:
| 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 |
Hesai specific parameters
Supported return modes per model
| 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 |
Hardware interface parameters
| 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 |
Driver parameters
| 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 |
Velodyne specific parameters
Supported return modes
| return_mode | Mode |
|---|---|
| SingleFirst | Single (First) |
| SingleStrongest | Single (Strongest) |
| SingleLast | Single (Last) |
| Dual | Dual |
Hardware interface parameters
| 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 |
Driver parameters
| 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 |