Common

Name	Type	Description	Default	Range
sensor_model	string	Sensor model.		VLP16, VLP32, VLS128
calibration_file	string	Sensor calibration file.	$(find-pkg-share nebula_decoders)/calibration/velodyne/$(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