AT128

Name	Type	Description	Default	Range
host_ip	string	Host IPv4 address.	255.255.255.255	N/A
sensor_ip	string	Sensor IPv4 address.	192.168.1.201	N/A
multicast_ip	string	Multicast IPv4 address.	""	N/A
data_port	integer	Sensor data port.	2368	≥ 0
gnss_port	integer	GNSS port.	10110	≥ 0
packet_mtu_size	integer	Packet MTU size.	1500	≥ 0
launch_hw	boolean	Whether network sockets should be opened or not. If disabled, replay from NebulaPackets messages is enabled automatically.	true	N/A
setup_sensor	boolean	Enable sensor setup on hardware driver.	true	N/A
udp_only	boolean	Use UDP protocol only (settings synchronization and diagnostics publishing are disabled).	false	N/A
frame_id	string	Sensor data frame_id.	data_link	N/A
diag_span	integer	Diagnostics rate.	1000	≥ 1
min_range	float	Sensor minimum single point range.	0.3	≥ 0.0
max_range	float	Sensor maximum single point range.	300.0	≥ 0.0
correction_file	string	Sensor correction file.	$(find-pkg-share nebula_decoders)/calibration/$(var sensor_vendor)/$(var sensor_model).dat	N/A
cloud_min_angle	integer	Field of View, start degrees.	30	≥ 30 ≤ 150
cloud_max_angle	integer	Field of View, end degrees.	150	≥ 30 ≤ 150
sync_angle	integer	The angle in whole degrees which should be hit on top-of-second.	30	≥ 30 ≤ 150
cut_angle	float	The angle in degrees at which pointclouds are cut/published.	30.0	≥ 30.0 ≤ 150.0
sensor_model	string	Sensor model.		PandarAT128
calibration_file	string	Sensor calibration file.	$(find-pkg-share nebula_decoders)/calibration/hesai/$(var sensor_model).csv	N/A
rotation_speed	integer	Motor RPM, the sensor's internal spin rate.	200	200, 400
return_mode	string	Sensor return mode.		Last, Strongest, LastStrongest, Dual
ptp_profile	string	PTP profile.	1588v2	1588v2, 802.1as, automotive
ptp_domain	integer	PTP domain (PTP operates within a logical scope).	0	≥ 0 ≤ 127
ptp_transport_type	string	1588v2 supports 'UDP' or 'L2', other profiles only L2 (HW).	UDP	UDP, L2
ptp_switch_type	string	For automotive profile,'TSN' or 'NON_TSN'.	TSN	TSN, NON_TSN
ptp_lock_threshold	integer	The maximum sensor clock offset in microseconds from the master clock which will still be treated as being locked.	100	≥ 1 ≤ 100
retry_hw	boolean	Whether TCP connections are retried on failure or the driver should instead exit.	true	N/A
dual_return_distance_threshold	float	Distance threshold between two neighboring points for dual return mode.	0.1	≥ 0.01 ≤ 0.5