feat(agv_pro_bringup): add multi-lidar support and drivers

2026-01-13 19:12:09 +08:00
parent b50a0c4496
commit dcb52622eb
99 changed files with 26335 additions and 39 deletions
@@ -0,0 +1,42 @@
+{
+  "lidar_summary_info" : {
+    "lidar_type": 8
+  },
+  "HAP": {
+    "lidar_net_info" : {
+      "cmd_data_port": 56000,
+      "push_msg_port": 0,
+      "point_data_port": 57000,
+      "imu_data_port": 58000,
+      "log_data_port": 59000
+    },
+    "host_net_info" : {
+      "cmd_data_ip" : "192.168.1.5",
+      "cmd_data_port": 56000,
+      "push_msg_ip": "",
+      "push_msg_port": 0,
+      "point_data_ip": "192.168.1.5",
+      "point_data_port": 57000,
+      "imu_data_ip" : "192.168.1.5",
+      "imu_data_port": 58000,
+      "log_data_ip" : "",
+      "log_data_port": 59000
+    }
+  },
+  "lidar_configs" : [
+    {
+      "ip" : "192.168.1.100",
+      "pcl_data_type" : 1,
+      "pattern_mode" : 0,
+      "extrinsic_parameter" : {
+        "roll": 0.0,
+        "pitch": 0.0,
+        "yaw": 0.0,
+        "x": 0,
+        "y": 0,
+        "z": 0
+      }
+    }
+  ]
+}
+