Pandar64
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 |
cloud_min_angle | integer | Field of View, start degrees. | 0 | ≥ 0 ≤ 360 |
cloud_max_angle | integer | Field of View, end degrees. | 360 | ≥ 0 ≤ 360 |
sync_angle | integer | The angle in whole degrees which should be hit on top-of-second. | 0 | ≥ 0 ≤ 359 |
cut_angle | float | The angle in degrees at which pointclouds are cut/published. | 0.0 | ≥ 0 ≤ 360 |
sensor_model | string | Sensor model. | Pandar64 | |
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. | 600 | ≥ 300 ≤ 1200 |
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 |