Apollo: How to enable velodyne HDL32E for rc3.5?

[simon750324]

How do I enable velodyne HDL32E?
I find there are only related files for velodyne128 or velodyne16, even velodyne64 . However, There is no related launch, dag, conf file for velodyne32.

System information

• OS Platform and Distribution (e.g., Linux Ubuntu 14.04): 14.04
• Apollo installed from (source or binary): source
• Apollo version (1.0, 1.5, 2.0, 2.5, 3.0): rc3.5 branch

[mickeyouyou]

Right now, you can refer to the other model as a reference, put follow content in the file modules/drivers/velodyne/conf/velodyne32_conf.pb.txt, and use this link as a module config in dag It's ok .

frame_id: "velodyne32"
scan_channel: "/apollo/sensor/velodyne32/VelodyneScan"
rpm: 600.0
model: HDL32E
mode: STRONGEST
firing_data_port: 2368
positioning_data_port: 8308
use_sensor_sync: false
max_range: 130.0
min_range: 0.4 
use_gps_time: true
calibration_online: false
calibration_file: "/apollo/modules/drivers/velodyne/params/HDL32E_calibration_example.yaml"
organized: false
convert_channel_name: "/apollo/sensor/velodyne32/PointCloud2"
use_poll_sync: true
is_main_frame: true

[simon750324]

Hi # @mickeyouyou

Thanks, it works.