VLS128
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. | VLS128 | |
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 |