BPearl

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
data_port	integer	Sensor data port.	2368	≥ 0
gnss_port	integer	GNSS port.	2369	≥ 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
frame_id	string	Sensor data frame_id.	data_link	N/A
diag_span	integer	Diagnostics rate.	1000	≥ 1
cloud_min_angle	integer	Field of View, start degrees.	0	≥ 0 ≤ 360
cloud_max_angle	integer	Field of View, end degrees.	360	≥ 0 ≤ 360
scan_phase	float	Sensor scan phase.	0.0	≥ 0.0 ≤ 360.0
dual_return_distance_threshold	float	Distance threshold between two neighboring points for dual return mode.	0.1	≥ 0.01 ≤ 0.5
sensor_model	string	Sensor model.		Bpearl
return_mode	string	Sensor return mode.		Dual, Strongest, Last, First