Common
| Name | Type | Description | Default | Range |
|---|---|---|---|---|
| sensor_model | string | Sensor model. | VLP16, VLP32, VLS128 | |
| calibration_file | string | Sensor calibration file. | \((find-pkg-share nebula_velodyne_decoders)/<wbr>calibration/<wbr>\)(var sensor_model).yaml | N/A |
| return_mode | string | Sensor return mode. | SingleStrongest, SingleLast, Dual, SingleFirst | |
| rotation_speed | integer | Motor RPM, the sensor's internal spin rate. | 600 | ≥ 300 ≤ 1200 |