VLP16

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
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
advanced_diagnostics	boolean	Enable advanced diagnostics.	false	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
scan_phase	float	Sensor scan phase.	0.0	≥ 0.0 ≤ 360.0
sensor_model	string	Sensor model.		VLP16
calibration_file	string	Sensor calibration file.	$(find-pkg-share nebula_decoders)/calibration/velodyne/$(var sensor_model).yaml	N/A
rotation_speed	integer	Motor RPM, the sensor's internal spin rate.	600	≥ 300 ≤ 1200
return_mode	string	Sensor return mode.		SingleStrongest, SingleLast, Dual, SingleFirst