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提交 06253f8c 编写于 作者: L liufeng31 提交者： Liu Jiaming
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Drivers: rearrange driver files and configurations

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Showing with 559 addition and 278 deletion
docs/howto/how_to_add_a_new_lidar_driver.md
浏览文件 @ 06253f8c
......@@ -10,17 +10,17 @@ As default, Apollo platform support multiple types of Lidar drivers, including 1
Taking velodyne lidar driver as an example, there are three major components:
1. [Driver](../../modules/drivers/velodyne/driver): Driver receives UDP data packets from lidar sensor, and packages the data packets into a frame of scanning data in the format of VelodyneScan. VelodyneScan is defined in file below:
1. [Driver](../../modules/drivers/lidar/velodyne/driver): Driver receives UDP data packets from lidar sensor, and packages the data packets into a frame of scanning data in the format of VelodyneScan. VelodyneScan is defined in file below:
```
modules/drivers/velodyne/proto/velodyne.proto
modules/drivers/lidar/velodyne/proto/velodyne.proto
```
2. [Parser](../../modules/drivers/velodyne/parser): Parser takes one frame data in format of VelodyneScan as input, converts the cloud points in the frame from spherical coordinate system to Cartesian coordinates system, then sends out the point cloud as output. The pointcloud format is defined in file below:
2. [Parser](../../modules/drivers/lidar/velodyne/parser): Parser takes one frame data in format of VelodyneScan as input, converts the cloud points in the frame from spherical coordinate system to Cartesian coordinates system, then sends out the point cloud as output. The pointcloud format is defined in file below:
```
modules/drivers/proto/pointcloud.proto
```
3. [Compensator](../../modules/drivers/velodyne/compensator): Compensator takes pointcloud data and pose data as inputs. Based on the corresponding pose information for each cloud point, it converts each cloud point information aligned with the latest time in the current lidar scan frame, minimizing the motion error due the movement of the vehicle. Thus, each cloud point needs carry its own timestamp information.
3. [Compensator](../../modules/drivers/lidar/velodyne/compensator): Compensator takes pointcloud data and pose data as inputs. Based on the corresponding pose information for each cloud point, it converts each cloud point information aligned with the latest time in the current lidar scan frame, minimizing the motion error due the movement of the vehicle. Thus, each cloud point needs carry its own timestamp information.
## Steps to add a new Lidar driver
......@@ -45,7 +45,7 @@ message ScanData {
}
```
In velodyne driver, the scan data message is define as [VelodyneScan](../../modules/drivers/velodyne/proto/velodyne.proto#L29).
In velodyne driver, the scan data message is define as [VelodyneScan](../../modules/drivers/lidar/velodyne/proto/velodyne.proto#L29).
#### 3. Access the raw data
......@@ -141,7 +141,7 @@ After done with each component, you just need to configure the DAG config file t
```python
# Define all coms in DAG streaming.
module_config {
module_library : "/apollo/bazel-bin/modules/drivers/xxx/driver/libxxx_driver_component.so"
module_library : "/apollo/bazel-bin/modules/drivers/lidar/xxx/driver/libxxx_driver_component.so"
components {
class_name : "DriverComponent"
config {
......@@ -152,7 +152,7 @@ module_config {
}
module_config {
module_library : "/apollo/bazel-bin/modules/drivers/xxx/parser/libxxx_parser_component.so"
module_library : "/apollo/bazel-bin/modules/drivers/lidar/xxx/parser/libxxx_parser_component.so"
components {
class_name : "ParserComponent"
config {
......@@ -164,12 +164,12 @@ module_config {
}
module_config {
module_library : "/apollo/bazel-bin/modules/drivers/xxx/compensator/libxxx_compensator_component.so"
module_library : "/apollo/bazel-bin/modules/drivers/lidar/xxx/compensator/libxxx_compensator_component.so"
components {
class_name : "CompensatorComponent"
config {
name : "pointcloud_compensator"
config_file_path : "/apollo/modules/drivers/xxx/conf/xxx_compensator_conf.pb.txt"
config_file_path : "/apollo/modules/drivers/lidar/xxx/conf/xxx_compensator_conf.pb.txt"
readers {channel: "/apollo/sensor/xxx/PointCloud2"}
}
}
......
docs/howto/how_to_add_a_new_lidar_driver_cn.md
浏览文件 @ 06253f8c
......@@ -3,11 +3,11 @@ Lidar是一种常用的环境感知传感器，利用脉冲激光来照射目标
## Velodyne驱动的主要部分
1. [Driver](../../modules/drivers/velodyne/driver): 通过网络端口接收lidar硬件产生的UDP数据包，将每一帧封装成VelodyneScan格式后发送。
1. [Driver](../../modules/drivers/lidar/velodyne/driver): 通过网络端口接收lidar硬件产生的UDP数据包，将每一帧封装成VelodyneScan格式后发送。
2. [Parser](../../modules/drivers/velodyne/parser): 接收VelodyneScan数据，把VelodyneScan中的点由球面坐标系转换成空间直角坐标系下的pointcldoud点云格式后发送。
2. [Parser](../../modules/drivers/lidar/velodyne/parser): 接收VelodyneScan数据，把VelodyneScan中的点由球面坐标系转换成空间直角坐标系下的pointcldoud点云格式后发送。
3. [Compensator](../../modules/drivers/velodyne/compensator): 接收点云数据和pose数据，根据每个点的对应的pose信息把点转换到点云中最大时刻对应的坐标系下，减小由车辆自身的运动带来的误差。需要点云数据中包含每个点的时间戳信息。
3. [Compensator](../../modules/drivers/lidar/velodyne/compensator): 接收点云数据和pose数据，根据每个点的对应的pose信息把点转换到点云中最大时刻对应的坐标系下，减小由车辆自身的运动带来的误差。需要点云数据中包含每个点的时间戳信息。
......@@ -32,7 +32,7 @@ apollo已经预定义了点云的消息格式，所以只需要为新lidar定义
repeated bytes raw_data = 5; // raw scan data
}
```
在velodyne驱动中，其扫描数据消息定义为[VelodyneScan](../../modules/drivers/velodyne/proto/velodyne.proto#L29).
在velodyne驱动中，其扫描数据消息定义为[VelodyneScan](../../modules/drivers/lidar/velodyne/proto/velodyne.proto#L29).
#### 3. 读取原始数据
......@@ -125,7 +125,7 @@ CYBER_REGISTER_COMPONENT(ParserComponent)
```python
# Define all coms in DAG streaming.
module_config {
module_library : "/apollo/bazel-bin/modules/drivers/xxx/driver/libxxx_driver_component.so"
module_library : "/apollo/bazel-bin/modules/drivers/lidar/xxx/driver/libxxx_driver_component.so"
components {
class_name : "DriverComponent"
config {
......@@ -136,7 +136,7 @@ module_config {
}
module_config {
module_library : "/apollo/bazel-bin/modules/drivers/xxx/parser/libxxx_parser_component.so"
module_library : "/apollo/bazel-bin/modules/drivers/lidar/xxx/parser/libxxx_parser_component.so"
components {
class_name : "ParserComponent"
config {
......@@ -148,12 +148,12 @@ module_config {
}
module_config {
module_library : "/apollo/bazel-bin/modules/drivers/xxx/compensator/libxxx_compensator_component.so"
module_library : "/apollo/bazel-bin/modules/drivers/lidar/xxx/compensator/libxxx_compensator_component.so"
components {
class_name : "CompensatorComponent"
config {
name : "pointcloud_compensator"
config_file_path : "/apollo/modules/drivers/xxx/conf/xxx_compensator_conf.pb.txt"
config_file_path : "/apollo/modules/drivers/lidar/xxx/conf/xxx_compensator_conf.pb.txt"
readers {channel: "/apollo/sensor/xxx/PointCloud2"}
}
}
......
modules/calibration/data/dev_kit/lidar_conf/lidar_conf.pb.txt
浏览文件 @ 06253f8c
......@@ -11,7 +11,7 @@ max_range: 100.0
min_range: 0.9
use_gps_time: true
calibration_online: false
calibration_file: "/apollo/modules/drivers/velodyne/params/VLP16_calibration.yaml"
calibration_file: "/apollo/modules/drivers/lidar/velodyne/params/VLP16_calibration.yaml"
organized: false
convert_channel_name: "/apollo/sensor/lidar16/PointCloud2"
use_poll_sync: true
......
modules/calibration/data/dev_kit/lidar_dag/lidar.dag
浏览文件 @ 06253f8c
# Define all coms in DAG streaming.
module_config {
module_library : "/apollo/bazel-bin/modules/drivers/velodyne/driver/libvelodyne_driver_component.so"
module_library : "/apollo/bazel-bin/modules/drivers/lidar/velodyne/driver/libvelodyne_driver_component.so"
components {
class_name : "VelodyneDriverComponent"
......@@ -12,7 +12,7 @@ module_config {
}
module_config {
module_library : "/apollo/bazel-bin/modules/drivers/velodyne/parser/libvelodyne_convert_component.so"
module_library : "/apollo/bazel-bin/modules/drivers/lidar/velodyne/parser/libvelodyne_convert_component.so"
components {
class_name : "VelodyneConvertComponent"
......@@ -25,7 +25,7 @@ module_config {
}
module_config {
module_library : "/apollo/bazel-bin/modules/drivers/velodyne/compensator/libvelodyne_compensator_component.so"
module_library : "/apollo/bazel-bin/modules/drivers/lidar/velodyne/compensator/libvelodyne_compensator_component.so"
components {
class_name : "CompensatorComponent"
......
modules/calibration/data/dev_kit_advanced_ne-b/lidar_dag/lidar.dag
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# Define all coms in DAG streaming.
module_config {
module_library : "/apollo/bazel-bin/modules/drivers/lidar_surestar/libsurestar_driver_component.so"
module_library : "/apollo/bazel-bin/modules/drivers/lidar/lidar_surestar/libsurestar_driver_component.so"
components {
class_name : "CompSureStarDriver"
......@@ -12,7 +12,7 @@ module_config {
}
module_config {
module_library : "/apollo/bazel-bin/modules/drivers/lidar_surestar/libsurestar_driver_component.so"
module_library : "/apollo/bazel-bin/modules/drivers/lidar/lidar_surestar/libsurestar_driver_component.so"
components {
class_name : "CompSurestarConvert"
......@@ -26,7 +26,7 @@ module_config {
}
module_config {
module_library : "/apollo/bazel-bin/modules/drivers/velodyne/compensator/libvelodyne_compensator_component.so"
module_library : "/apollo/bazel-bin/modules/drivers/lidar/velodyne/compensator/libvelodyne_compensator_component.so"
components {
class_name : "CompensatorComponent"
......
modules/calibration/data/dev_kit_advanced_ne-s/lidar_conf/rs16.pb.txt
浏览文件 @ 06253f8c
......@@ -10,7 +10,7 @@ max_distance: 200
split_frame_mode: 1
num_pkts_split: 1
cut_angle: 0
angle_path: "/apollo/modules/drivers/robosense/angle.csv"
angle_path: "/apollo/modules/drivers/lidar/robosense/param/rs128/angle.csv"
pointcloud_channel: "/apollo/sensor/lidar16/PointCloud2"
scan_channel: "/apollo/sensor/lidar16/Scan"
use_lidar_clock: false
modules/calibration/data/dev_kit_advanced_ne-s/lidar_dag/lidar.dag
浏览文件 @ 06253f8c
# Define all coms in DAG streaming.
module_config {
module_library : "/apollo/bazel-bin/modules/drivers/robosense/librobosense_driver_component.so"
module_library : "/apollo/bazel-bin/modules/drivers/lidar/robosense/librobosense_driver_component.so"
components {
class_name : "RobosenseComponent"
......@@ -12,7 +12,7 @@ module_config {
}
module_config {
module_library : "/apollo/bazel-bin/modules/drivers/velodyne/compensator/libvelodyne_compensator_component.so"
module_library : "/apollo/bazel-bin/modules/drivers/lidar/velodyne/compensator/libvelodyne_compensator_component.so"
components {
class_name : "CompensatorComponent"
......
modules/calibration/data/dev_kit_advanced_sne-r/lidar_conf/rs16_back.pb.txt
浏览文件 @ 06253f8c
......@@ -10,7 +10,7 @@ max_distance: 70
split_frame_mode: 1
num_pkts_split: 1
cut_angle: 0
angle_path: "/apollo/modules/drivers/robosense/angle.csv"
angle_path: "/apollo/modules/drivers/lidar/robosense/param/rs128/angle.csv"
pointcloud_channel: "/apollo/sensor/lidar16/back/PointCloud2"
scan_channel: "/apollo/sensor/lidar16/back/Scan"
use_lidar_clock: false
modules/calibration/data/dev_kit_advanced_sne-r/lidar_conf/rs16_left.pb.txt
浏览文件 @ 06253f8c
......@@ -10,7 +10,7 @@ max_distance: 70
split_frame_mode: 1
num_pkts_split: 1
cut_angle: 0
angle_path: "/apollo/modules/drivers/robosense/angle.csv"
angle_path: "/apollo/modules/drivers/lidar/robosense/param/rs128/angle.csv"
pointcloud_channel: "/apollo/sensor/lidar16/left/PointCloud2"
scan_channel: "/apollo/sensor/lidar16/left/Scan"
use_lidar_clock: false
modules/calibration/data/dev_kit_advanced_sne-r/lidar_conf/rs16_right.pb.txt
浏览文件 @ 06253f8c
......@@ -10,7 +10,7 @@ max_distance: 70
split_frame_mode: 1
num_pkts_split: 1
cut_angle: 0
angle_path: "/apollo/modules/drivers/robosense/angle.csv"
angle_path: "/apollo/modules/drivers/lidar/robosense/param/rs128/angle.csv"
pointcloud_channel: "/apollo/sensor/lidar16/right/PointCloud2"
scan_channel: "/apollo/sensor/lidar16/right/Scan"
use_lidar_clock: false
......
modules/calibration/data/dev_kit_advanced_sne-r/lidar_dag/lidar.dag
浏览文件 @ 06253f8c
module_config {
module_library : "/apollo/bazel-bin/modules/drivers/robosense/librobosense_driver_component.so"
module_library : "/apollo/bazel-bin/modules/drivers/lidar/robosense/librobosense_driver_component.so"
components {
class_name : "RobosenseComponent"
config {
......@@ -29,7 +29,7 @@ module_config {
# fusion #
##################################################
module_config {
module_library : "/apollo/bazel-bin/modules/drivers/velodyne/fusion/libvelodyne_fusion_component.so"
module_library : "/apollo/bazel-bin/modules/drivers/lidar/velodyne/fusion/libvelodyne_fusion_component.so"
components {
class_name : "PriSecFusionComponent"
......@@ -45,7 +45,7 @@ module_config {
# compensation #
##################################################
module_config {
module_library : "/apollo/bazel-bin/modules/drivers/velodyne/compensator/libvelodyne_compensator_component.so"
module_library : "/apollo/bazel-bin/modules/drivers/lidar/velodyne/compensator/libvelodyne_compensator_component.so"
components {
class_name : "CompensatorComponent"
config {
......
modules/calibration/data/dev_kit_standard/lidar_conf/lidar_conf.pb.txt
浏览文件 @ 06253f8c
......@@ -11,7 +11,7 @@ max_range: 100.0
min_range: 0.9
use_gps_time: true
calibration_online: false
calibration_file: "/apollo/modules/drivers/velodyne/params/VLP16_calibration.yaml"
calibration_file: "/apollo/modules/drivers/lidar/velodyne/params/VLP16_calibration.yaml"
organized: false
convert_channel_name: "/apollo/sensor/lidar16/PointCloud2"
use_poll_sync: true
......
modules/calibration/data/dev_kit_standard/lidar_dag/lidar.dag
浏览文件 @ 06253f8c
# Define all coms in DAG streaming.
module_config {
module_library : "/apollo/bazel-bin/modules/drivers/velodyne/driver/libvelodyne_driver_component.so"
module_library : "/apollo/bazel-bin/modules/drivers/lidar/velodyne/driver/libvelodyne_driver_component.so"
components {
class_name : "VelodyneDriverComponent"
......@@ -12,7 +12,7 @@ module_config {
}
module_config {
module_library : "/apollo/bazel-bin/modules/drivers/velodyne/parser/libvelodyne_convert_component.so"
module_library : "/apollo/bazel-bin/modules/drivers/lidar/velodyne/parser/libvelodyne_convert_component.so"
components {
class_name : "VelodyneConvertComponent"
......@@ -25,7 +25,7 @@ module_config {
}
module_config {
module_library : "/apollo/bazel-bin/modules/drivers/velodyne/compensator/libvelodyne_compensator_component.so"
module_library : "/apollo/bazel-bin/modules/drivers/lidar/velodyne/compensator/libvelodyne_compensator_component.so"
components {
class_name : "CompensatorComponent"
......
modules/dreamview/conf/hmi_modes/car_teleop.pb.txt
浏览文件 @ 06253f8c
......@@ -86,7 +86,7 @@ cyber_modules {
cyber_modules {
key: "Velodyne"
value: {
dag_files: "/apollo/modules/drivers/velodyne/dag/velodyne.dag"
dag_files: "/apollo/modules/drivers/lidar/velodyne/dag/velodyne.dag"
}
}
modules {
......
modules/dreamview/conf/hmi_modes/ipc1_mkz_close_loop.pb.txt
浏览文件 @ 06253f8c
......@@ -4,7 +4,7 @@ cyber_modules {
dag_files: "/apollo/modules/drivers/camera/dag/camera_no_compress.dag"
dag_files: "/apollo/modules/drivers/gnss/dag/gnss.dag"
dag_files: "/apollo/modules/drivers/radar/conti_radar/dag/conti_radar.dag"
dag_files: "/apollo/modules/drivers/velodyne/dag/velodyne.dag"
dag_files: "/apollo/modules/drivers/lidar/velodyne/dag/velodyne.dag"
dag_files: "/apollo/modules/localization/dag/dag_streaming_rtk_localization.dag"
dag_files: "/apollo/modules/perception/production/dag/dag_streaming_perception.dag"
dag_files: "/apollo/modules/perception/production/dag/dag_streaming_perception_trafficlights.dag"
......
modules/dreamview/conf/hmi_modes/ipc1_mkz_standard_debug.pb.txt
浏览文件 @ 06253f8c
......@@ -62,7 +62,7 @@ cyber_modules {
cyber_modules {
key: "Velodyne"
value: {
dag_files: "/apollo/modules/drivers/velodyne/dag/velodyne.dag"
dag_files: "/apollo/modules/drivers/lidar/velodyne/dag/velodyne.dag"
}
}
modules {
......
modules/dreamview/conf/hmi_modes/map_collection.pb.txt
浏览文件 @ 06253f8c
......@@ -10,7 +10,7 @@ cyber_modules {
cyber_modules {
key: "Velodyne"
value: {
dag_files: "/apollo/modules/drivers/velodyne/dag/velodyne.dag"
dag_files: "/apollo/modules/drivers/lidar/velodyne/dag/velodyne.dag"
}
}
cyber_modules {
......
modules/dreamview/conf/hmi_modes/mkz_64beam.pb.txt
浏览文件 @ 06253f8c
......@@ -86,7 +86,7 @@ cyber_modules {
cyber_modules {
key: "Velodyne"
value: {
dag_files: "/apollo/modules/drivers/velodyne/dag/velodyne_64_16.dag"
dag_files: "/apollo/modules/drivers/lidar/velodyne/dag/velodyne_64_16.dag"
}
}
modules {
......
modules/dreamview/conf/hmi_modes/mkz_close_loop.pb.txt
浏览文件 @ 06253f8c
......@@ -4,7 +4,7 @@ cyber_modules {
dag_files: "/apollo/modules/drivers/camera/dag/camera_no_compress.dag"
dag_files: "/apollo/modules/drivers/gnss/dag/gnss.dag"
dag_files: "/apollo/modules/drivers/radar/conti_radar/dag/conti_radar.dag"
dag_files: "/apollo/modules/drivers/velodyne/dag/velodyne.dag"
dag_files: "/apollo/modules/drivers/lidar/velodyne/dag/velodyne.dag"
dag_files: "/apollo/modules/localization/dag/dag_streaming_rtk_localization.dag"
dag_files: "/apollo/modules/perception/production/dag/dag_streaming_perception.dag"
dag_files: "/apollo/modules/perception/production/dag/dag_streaming_perception_trafficlights.dag"
......
modules/dreamview/conf/hmi_modes/mkz_lgsvl.pb.txt
浏览文件 @ 06253f8c
......@@ -86,7 +86,7 @@ cyber_modules {
cyber_modules {
key: "Velodyne"
value: {
dag_files: "/apollo/modules/drivers/velodyne/dag/velodyne.dag"
dag_files: "/apollo/modules/drivers/lidar/velodyne/dag/velodyne.dag"
}
}
cyber_modules {
......
modules/dreamview/conf/hmi_modes/mkz_standard_debug_smart_recorder.pb.txt
浏览文件 @ 06253f8c
......@@ -86,7 +86,7 @@ cyber_modules {
cyber_modules {
key: "Velodyne"
value: {
dag_files: "/apollo/modules/drivers/velodyne/dag/velodyne.dag"
dag_files: "/apollo/modules/drivers/lidar/velodyne/dag/velodyne.dag"
}
}
modules {
......
modules/dreamview/conf/vehicle_data.pb.txt
浏览文件 @ 06253f8c
......@@ -24,7 +24,7 @@ data_files {
}
data_files {
source_path: "velodyne_params"
dest_path: "/apollo/modules/drivers/velodyne/params"
dest_path: "/apollo/modules/drivers/lidar/velodyne/params"
}
data_files {
source_path: "velodyne_params"
......@@ -72,7 +72,7 @@ data_files {
}
data_files {
source_path: "velodyne_conf"
dest_path: "/apollo/modules/drivers/velodyne/conf"
dest_path: "/apollo/modules/drivers/lidar/velodyne/conf"
}
data_files {
source_path: "camera_conf"
......@@ -156,7 +156,7 @@ data_files {
}
data_files {
source_path: "lidar_params"
dest_path: "/apollo/modules/drivers/velodyne/params"
dest_path: "/apollo/modules/drivers/lidar/velodyne/params"
}
data_files {
source_path: "lidar_params"
......
modules/drivers/lidar/conf/lidar_conf.pb.txt
浏览文件 @ 06253f8c
......@@ -11,7 +11,7 @@ max_range: 100.0
min_range: 0.9
use_gps_time: true
calibration_online: false
calibration_file: "/apollo/modules/drivers/velodyne/params/VLP16_calibration.yaml"
calibration_file: "/apollo/modules/drivers/lidar/velodyne/params/VLP16_calibration.yaml"
organized: false
convert_channel_name: "/apollo/sensor/lidar16/PointCloud2"
use_poll_sync: true
......
modules/drivers/lidar/dag/lidar.dag
浏览文件 @ 06253f8c
# Define all coms in DAG streaming.
module_config {
module_library : "/apollo/bazel-bin/modules/drivers/velodyne/driver/libvelodyne_driver_component.so"
module_library : "/apollo/bazel-bin/modules/drivers/lidar/velodyne/driver/libvelodyne_driver_component.so"
components {
class_name : "VelodyneDriverComponent"
......@@ -12,7 +12,7 @@ module_config {
}
module_config {
module_library : "/apollo/bazel-bin/modules/drivers/velodyne/parser/libvelodyne_convert_component.so"
module_library : "/apollo/bazel-bin/modules/drivers/lidar/velodyne/parser/libvelodyne_convert_component.so"
components {
class_name : "VelodyneConvertComponent"
......@@ -25,7 +25,7 @@ module_config {
}
module_config {
module_library : "/apollo/bazel-bin/modules/drivers/velodyne/compensator/libvelodyne_compensator_component.so"
module_library : "/apollo/bazel-bin/modules/drivers/lidar/velodyne/compensator/libvelodyne_compensator_component.so"
components {
class_name : "CompensatorComponent"
......
modules/drivers/hesai/BUILD → modules/drivers/lidar/hesai/BUILD
浏览文件 @ 06253f8c
......@@ -17,34 +17,34 @@ cc_binary(
cc_library(
name = "hesai_convert_component",
srcs = ["hesai_convert_component.cc"],
hdrs = ["hesai_convert_component.h"],
srcs = ["parser/hesai_convert_component.cc"],
hdrs = ["parser/hesai_convert_component.h"],
copts = HESAI_COPTS,
deps = [
":driver",
":parser_factory",
"//cyber",
"//modules/drivers/hesai/proto:config_cc_proto",
"//modules/drivers/lidar/hesai/proto:config_cc_proto",
],
)
cc_library(
name = "hesai_component",
srcs = ["hesai_component.cc"],
hdrs = ["hesai_component.h"],
srcs = ["driver/hesai_component.cc"],
hdrs = ["driver/hesai_component.h"],
copts = HESAI_COPTS,
deps = [
":driver",
":parser_factory",
"//cyber",
"//modules/drivers/hesai/proto:config_cc_proto",
"//modules/drivers/lidar/hesai/proto:config_cc_proto",
],
)
cc_library(
name = "driver",
srcs = ["driver.cc"],
hdrs = ["driver.h"],
srcs = ["driver/driver.cc"],
hdrs = ["driver/driver.h"],
copts = HESAI_COPTS,
deps = [
":parser",
......@@ -56,8 +56,8 @@ cc_library(
cc_library(
name = "parser_factory",
srcs = ["parser_factory.cc"],
hdrs = ["parser_factory.h"],
srcs = ["parser/parser_factory.cc"],
hdrs = ["parser/parser_factory.h"],
copts = HESAI_COPTS,
deps = [
":hesai40_parser",
......@@ -69,8 +69,8 @@ cc_library(
cc_library(
name = "hesai64_parser",
srcs = ["hesai64_parser.cc"],
hdrs = ["hesai64_parser.h"],
srcs = ["parser/hesai64_parser.cc"],
hdrs = ["parser/hesai64_parser.h"],
copts = HESAI_COPTS,
deps = [
":parser",
......@@ -80,8 +80,8 @@ cc_library(
cc_library(
name = "hesai40_parser",
srcs = ["hesai40_parser.cc"],
hdrs = ["hesai40_parser.h"],
srcs = ["parser/hesai40_parser.cc"],
hdrs = ["parser/hesai40_parser.h"],
copts = HESAI_COPTS,
deps = [
":parser",
......@@ -91,23 +91,23 @@ cc_library(
cc_library(
name = "parser",
srcs = ["parser.cc"],
hdrs = ["parser.h"],
srcs = ["parser/parser.cc"],
hdrs = ["parser/parser.h"],
copts = HESAI_COPTS,
deps = [
":tcp_cmd_client",
":type_defs",
"//cyber",
"//modules/drivers/hesai/proto:config_cc_proto",
"//modules/drivers/hesai/proto:hesai_cc_proto",
"//modules/drivers/lidar/hesai/proto:config_cc_proto",
"//modules/drivers/lidar/hesai/proto:hesai_cc_proto",
"//modules/drivers/proto:pointcloud_cc_proto",
],
)
cc_library(
name = "udp_input",
srcs = ["udp_input.cc"],
hdrs = ["udp_input.h"],
srcs = ["input/udp_input.cc"],
hdrs = ["input/udp_input.h"],
copts = HESAI_COPTS,
deps = [
":type_defs",
......@@ -117,21 +117,21 @@ cc_library(
cc_library(
name = "tcp_cmd_client",
srcs = ["tcp_cmd_client.cc"],
hdrs = ["tcp_cmd_client.h"],
srcs = ["parser/tcp_cmd_client.cc"],
hdrs = ["parser/tcp_cmd_client.h"],
copts = HESAI_COPTS,
deps = ["//cyber"],
)
cc_library(
name = "type_defs",
hdrs = ["type_defs.h"],
hdrs = ["common/type_defs.h"],
deps = [":const_var"],
)
cc_library(
name = "const_var",
hdrs = ["const_var.h"],
hdrs = ["common/const_var.h"],
)
cpplint()
modules/drivers/hesai/type_defs.h → modules/drivers/lidar/hesai/common/type_defs.h
浏览文件 @ 06253f8c
......@@ -18,7 +18,7 @@
#define LIDAR_HESAI_SRC_TYPE_DEFS_H_
#include <ctime>
#include "modules/drivers/hesai/const_var.h"
#include "modules/drivers/lidar/hesai/common/const_var.h"
namespace apollo {
namespace drivers {
......
modules/drivers/hesai/dag/hesai40.dag → modules/drivers/lidar/hesai/dag/hesai40.dag
浏览文件 @ 06253f8c
module_config {
module_library : "/apollo/bazel-bin/modules/drivers/hesai/libhesai_driver_component.so"
module_library : "/apollo/bazel-bin/modules/drivers/lidar/hesai/libhesai_driver_component.so"
components {
class_name : "HesaiComponent"
config {
name : "hesai40p_driver"
config_file_path : "/apollo/modules/drivers/hesai/conf/hesai40p.pb.txt"
config_file_path : "/apollo/modules/drivers/lidar/hesai/conf/hesai40p.pb.txt"
}
}
}
module_config {
module_library : "/apollo/bazel-bin/modules/drivers/velodyne/compensator/libvelodyne_compensator_component.so"
module_library : "/apollo/bazel-bin/modules/drivers/lidar/velodyne/compensator/libvelodyne_compensator_component.so"
components {
class_name : "CompensatorComponent"
config {
name : "hesai40p_compensator"
config_file_path : "/apollo/modules/drivers/hesai/conf/hesai40p_compensator.pb.txt"
config_file_path : "/apollo/modules/drivers/lidar/hesai/conf/hesai40p_compensator.pb.txt"
readers {channel: "/apollo/sensor/hesai40/PointCloud2"}
}
}
......
modules/drivers/hesai/dag/hesai64.dag → modules/drivers/lidar/hesai/dag/hesai64.dag
浏览文件 @ 06253f8c
module_config {
module_library : "/apollo/bazel-bin/modules/drivers/hesai/libhesai_driver_component.so"
module_library : "/apollo/bazel-bin/modules/drivers/lidar/hesai/libhesai_driver_component.so"
components {
class_name : "HesaiComponent"
config {
name : "hesai64_driver"
config_file_path : "/apollo/modules/drivers/hesai/conf/hesai64.pb.txt"
config_file_path : "/apollo/modules/drivers/lidar/hesai/conf/hesai64.pb.txt"
}
}
}
module_config {
module_library : "/apollo/bazel-bin/modules/drivers/velodyne/compensator/libvelodyne_compensator_component.so"
module_library : "/apollo/bazel-bin/modules/drivers/lidar/velodyne/compensator/libvelodyne_compensator_component.so"
components {
class_name : "CompensatorComponent"
config {
name : "hesai64_compensator"
config_file_path : "/apollo/modules/drivers/hesai/conf/hesai64_compensator.pb.txt"
config_file_path : "/apollo/modules/drivers/lidar/hesai/conf/hesai64_compensator.pb.txt"
readers {channel: "/apollo/sensor/hesai64/PointCloud2"}
}
}
......
modules/drivers/hesai/driver.cc → modules/drivers/lidar/hesai/driver/driver.cc
浏览文件 @ 06253f8c
......@@ -14,7 +14,7 @@
* limitations under the License.
*****************************************************************************/
#include "modules/drivers/hesai/driver.h"
#include "modules/drivers/lidar/hesai/driver/driver.h"
namespace apollo {
namespace drivers {
......
modules/drivers/hesai/driver.h → modules/drivers/lidar/hesai/driver/driver.h
浏览文件 @ 06253f8c
......@@ -29,8 +29,8 @@
#include <vector>
#include "cyber/cyber.h"
#include "modules/drivers/hesai/parser.h"
#include "modules/drivers/hesai/udp_input.h"
#include "modules/drivers/lidar/hesai/parser/parser.h"
#include "modules/drivers/lidar/hesai/input/udp_input.h"
namespace apollo {
namespace drivers {
......
modules/drivers/hesai/hesai_component.cc → modules/drivers/lidar/hesai/driver/hesai_component.cc
浏览文件 @ 06253f8c
......@@ -13,7 +13,7 @@
* See the License for the specific language governing permissions and
* limitations under the License.
*****************************************************************************/
#include "modules/drivers/hesai/hesai_component.h"
#include "modules/drivers/lidar/hesai/driver/hesai_component.h"
namespace apollo {
namespace drivers {
......
modules/drivers/hesai/hesai_component.h → modules/drivers/lidar/hesai/driver/hesai_component.h
浏览文件 @ 06253f8c
......@@ -19,10 +19,10 @@
#include <memory>
#include <string>
#include "modules/drivers/hesai/proto/config.pb.h"
#include "modules/drivers/lidar/hesai/proto/config.pb.h"
#include "cyber/cyber.h"
#include "modules/drivers/hesai/driver.h"
#include "modules/drivers/hesai/parser_factory.h"
#include "modules/drivers/lidar/hesai/driver/driver.h"
#include "modules/drivers/lidar/hesai/parser/parser_factory.h"
namespace apollo {
namespace drivers {
......
modules/drivers/hesai/udp_input.cc → modules/drivers/lidar/hesai/input/udp_input.cc
浏览文件 @ 06253f8c
......@@ -14,7 +14,7 @@
* limitations under the License.
*****************************************************************************/
#include "modules/drivers/hesai/udp_input.h"
#include "modules/drivers/lidar/hesai/input/udp_input.h"
#include <arpa/inet.h>
#include <fcntl.h>
......
modules/drivers/hesai/udp_input.h → modules/drivers/lidar/hesai/input/udp_input.h
浏览文件 @ 06253f8c
......@@ -18,7 +18,7 @@
#define LIDAR_HESAI_SRC_INPUT_H_
#include <cstdint>
#include "modules/drivers/hesai/type_defs.h"
#include "modules/drivers/lidar/hesai/common/type_defs.h"
namespace apollo {
namespace drivers {
......
modules/drivers/lidar/hesai/launch/hesai40.launch 0 → 100644
浏览文件 @ 06253f8c
<cyber>
<module>
<name>hesai40</name>
<dag_conf>/apollo/modules/drivers/lidar/hesai/dag/hesai40.dag</dag_conf>
<process_name>hesai</process_name>
</module>
</cyber>
modules/drivers/lidar/hesai/launch/hesai64.launch 0 → 100644
浏览文件 @ 06253f8c
<cyber>
<module>
<name>hesai64</name>
<dag_conf>/apollo/modules/drivers/lidar/hesai/dag/hesai64.dag</dag_conf>
<process_name>hesai</process_name>
</module>
</cyber>
modules/drivers/hesai/hesai40_parser.cc → modules/drivers/lidar/hesai/parser/hesai40_parser.cc
浏览文件 @ 06253f8c
......@@ -14,7 +14,7 @@
* limitations under the License.
*****************************************************************************/
#include "modules/drivers/hesai/hesai40_parser.h"
#include "modules/drivers/lidar/hesai/parser/hesai40_parser.h"
namespace apollo {
namespace drivers {
......
modules/drivers/hesai/hesai40_parser.h → modules/drivers/lidar/hesai/parser/hesai40_parser.h
浏览文件 @ 06253f8c
......@@ -19,7 +19,7 @@
#include <memory>
#include "cyber/cyber.h"
#include "modules/drivers/hesai/parser.h"
#include "modules/drivers/lidar/hesai/parser/parser.h"
namespace apollo {
namespace drivers {
......
modules/drivers/hesai/hesai64_parser.cc → modules/drivers/lidar/hesai/parser/hesai64_parser.cc
浏览文件 @ 06253f8c
......@@ -14,7 +14,7 @@
* limitations under the License.
*****************************************************************************/
#include "modules/drivers/hesai/hesai64_parser.h"
#include "modules/drivers/lidar/hesai/parser/hesai64_parser.h"
namespace apollo {
namespace drivers {
......
modules/drivers/hesai/hesai64_parser.h → modules/drivers/lidar/hesai/parser/hesai64_parser.h
浏览文件 @ 06253f8c
......@@ -19,7 +19,7 @@
#include <memory>
#include "cyber/cyber.h"
#include "modules/drivers/hesai/parser.h"
#include "modules/drivers/lidar/hesai/parser/parser.h"
namespace apollo {
namespace drivers {
......
modules/drivers/hesai/hesai_convert_component.cc → modules/drivers/lidar/hesai/parser/hesai_convert_component.cc
浏览文件 @ 06253f8c
......@@ -14,7 +14,7 @@
* limitations under the License.
*****************************************************************************/
#include "modules/drivers/hesai/hesai_convert_component.h"
#include "modules/drivers/lidar/hesai/parser/hesai_convert_component.h"
namespace apollo {
namespace drivers {
......
modules/drivers/hesai/hesai_convert_component.h → modules/drivers/lidar/hesai/parser/hesai_convert_component.h
浏览文件 @ 06253f8c
......@@ -19,10 +19,10 @@
#include <memory>
#include <string>
#include "modules/drivers/hesai/proto/config.pb.h"
#include "modules/drivers/hesai/proto/hesai.pb.h"
#include "modules/drivers/lidar/hesai/proto/config.pb.h"
#include "modules/drivers/lidar/hesai/proto/hesai.pb.h"
#include "cyber/cyber.h"
#include "modules/drivers/hesai/parser_factory.h"
#include "modules/drivers/lidar/hesai/parser/parser_factory.h"
namespace apollo {
namespace drivers {
......
modules/drivers/hesai/parser.cc → modules/drivers/lidar/hesai/parser/parser.cc
浏览文件 @ 06253f8c
......@@ -18,7 +18,7 @@
#include <memory>
#include <string>
#include "modules/drivers/hesai/parser.h"
#include "modules/drivers/lidar/hesai/parser/parser.h"
namespace apollo {
namespace drivers {
......
modules/drivers/hesai/parser.h → modules/drivers/lidar/hesai/parser/parser.h
浏览文件 @ 06253f8c
......@@ -23,13 +23,13 @@
#include <thread>
#include <vector>
#include "modules/drivers/hesai/proto/config.pb.h"
#include "modules/drivers/hesai/proto/hesai.pb.h"
#include "modules/drivers/lidar/hesai/proto/config.pb.h"
#include "modules/drivers/lidar/hesai/proto/hesai.pb.h"
#include "modules/drivers/proto/pointcloud.pb.h"
#include "cyber/cyber.h"
#include "modules/drivers/hesai/tcp_cmd_client.h"
#include "modules/drivers/hesai/type_defs.h"
#include "modules/drivers/lidar/hesai/parser/tcp_cmd_client.h"
#include "modules/drivers/lidar/hesai/common/type_defs.h"
namespace apollo {
namespace drivers {
......
modules/drivers/hesai/parser_factory.cc → modules/drivers/lidar/hesai/parser/parser_factory.cc
浏览文件 @ 06253f8c
......@@ -14,10 +14,10 @@
* limitations under the License.
*****************************************************************************/
#include "modules/drivers/hesai/parser_factory.h"
#include "modules/drivers/lidar/hesai/parser/parser_factory.h"
#include "modules/drivers/hesai/hesai40_parser.h"
#include "modules/drivers/hesai/hesai64_parser.h"
#include "modules/drivers/lidar/hesai/parser/hesai40_parser.h"
#include "modules/drivers/lidar/hesai/parser/hesai64_parser.h"
namespace apollo {
namespace drivers {
......
modules/drivers/hesai/parser_factory.h → modules/drivers/lidar/hesai/parser/parser_factory.h
浏览文件 @ 06253f8c
......@@ -19,7 +19,7 @@
#include <memory>
#include "cyber/cyber.h"
#include "modules/drivers/hesai/parser.h"
#include "modules/drivers/lidar/hesai/parser/parser.h"
namespace apollo {
namespace drivers {
......
modules/drivers/hesai/tcp_cmd_client.cc → modules/drivers/lidar/hesai/parser/tcp_cmd_client.cc
浏览文件 @ 06253f8c
......@@ -33,7 +33,7 @@
#include <cstring>
#include "cyber/cyber.h"
#include "modules/drivers/hesai/tcp_cmd_client.h"
#include "modules/drivers/lidar/hesai/parser/tcp_cmd_client.h"
namespace apollo {
namespace drivers {
......
modules/drivers/hesai/proto/config.proto → modules/drivers/lidar/hesai/proto/config.proto
浏览文件 @ 06253f8c
......@@ -2,7 +2,7 @@ syntax = "proto2";
package apollo.drivers.hesai;
import "modules/drivers/hesai/proto/hesai.proto";
import "modules/drivers/lidar/hesai/proto/hesai.proto";
message Config {
optional Model model = 1;
......
modules/drivers/robosense/BUILD → modules/drivers/lidar/robosense/BUILD
浏览文件 @ 06253f8c
......@@ -42,7 +42,7 @@ cc_library(
"//cyber",
"//modules/common/util",
"//modules/drivers/proto:pointcloud_cc_proto",
"//modules/drivers/robosense/proto:robosense_proto",
"//modules/drivers/lidar/robosense/proto:robosense_proto",
],
)
......
modules/drivers/robosense/README.md → modules/drivers/lidar/robosense/README.md
浏览文件 @ 06253f8c
......@@ -17,13 +17,13 @@
#### 2.1 RS16
```sh
cyber_launch start /apollo/modules/drivers/robosense/launch/rs16.launch
cyber_launch start /apollo/modules/drivers/lidar/robosense/launch/rs16.launch
```
or
```sh
mainboard -d /apollo/modules/drivers/robosenseag/rs16.dag
mainboard -d /apollo/modules/drivers/lidar/robosenseag/rs16.dag
```
Default Channel Name：
......@@ -36,13 +36,13 @@ Default Channel Name：
#### 2.2 RS32
```sh
cyber_launch start /apollo/modules/drivers/robosense/launch/rs32.launch
cyber_launch start /apollo/modules/drivers/lidar/robosense/launch/rs32.launch
```
or
```sh
mainboard -d /apollo/modules/drivers/robosenseag/rs32.dag
mainboard -d /apollo/modules/drivers/lidar/robosenseag/rs32.dag
```
......@@ -56,13 +56,13 @@ Default Channel Name：
#### 2.3 RS128
```sh
cyber_launch start /apollo/modules/drivers/robosense/launch/rs128.launch
cyber_launch start /apollo/modules/drivers/lidar/robosense/launch/rs128.launch
```
or
```sh
mainboard -d /apollo/modules/drivers/robosenseag/rs128.dag
mainboard -d /apollo/modules/drivers/lidar/robosenseag/rs128.dag
```
Default Channel Name：
......@@ -75,13 +75,13 @@ Default Channel Name：
#### 2.4 RSBP
```sh
cyber_launch start /apollo/modules/drivers/robosense/launch/rsbp.launch
cyber_launch start /apollo/modules/drivers/lidar/robosense/launch/rsbp.launch
```
or
```sh
mainboard -d /apollo/modules/drivers/robosenseag/rsbp.dag
mainboard -d /apollo/modules/drivers/lidar/robosenseag/rsbp.dag
```
Default Channel Name：
......
modules/drivers/robosense/README_cn.md → modules/drivers/lidar/robosense/README_cn.md
浏览文件 @ 06253f8c
......@@ -15,13 +15,13 @@
#### 2.1 RS16
```sh
cyber_launch start /apollo/modules/drivers/robosense/launch/rs16.launch
cyber_launch start /apollo/modules/drivers/lidar/robosense/launch/rs16.launch
```
或
```sh
mainboard -d /apollo/modules/drivers/robosenseag/rs16.dag
mainboard -d /apollo/modules/drivers/lidar/robosenseag/rs16.dag
```
默认话题名：
......@@ -34,13 +34,13 @@ mainboard -d /apollo/modules/drivers/robosenseag/rs16.dag
#### 2.2 RS32
```sh
cyber_launch start /apollo/modules/drivers/robosense/launch/rs32.launch
cyber_launch start /apollo/modules/drivers/lidar/robosense/launch/rs32.launch
```
或
```sh
mainboard -d /apollo/modules/drivers/robosenseag/rs32.dag
mainboard -d /apollo/modules/drivers/lidar/robosenseag/rs32.dag
```
......@@ -54,13 +54,13 @@ mainboard -d /apollo/modules/drivers/robosenseag/rs32.dag
#### 2.3 RS128
```sh
cyber_launch start /apollo/modules/drivers/robosense/launch/rs128.launch
cyber_launch start /apollo/modules/drivers/lidar/robosense/launch/rs128.launch
```
或
```sh
mainboard -d /apollo/modules/drivers/robosenseag/rs128.dag
mainboard -d /apollo/modules/drivers/lidar/robosenseag/rs128.dag
```
默认话题名：
......@@ -73,13 +73,13 @@ mainboard -d /apollo/modules/drivers/robosenseag/rs128.dag
#### 2.4 RSBP
```sh
cyber_launch start /apollo/modules/drivers/robosense/launch/rsbp.launch
cyber_launch start /apollo/modules/drivers/lidar/robosense/launch/rsbp.launch
```
或
```sh
mainboard -d /apollo/modules/drivers/robosenseag/rsbp.dag
mainboard -d /apollo/modules/drivers/lidar/robosenseag/rsbp.dag
```
默认话题名：
......
modules/drivers/robosense/conf/rs128.pb.txt → modules/drivers/lidar/robosense/conf/rs128.pb.txt
浏览文件 @ 06253f8c
......@@ -11,5 +11,5 @@ max_distance: 210
cut_angle: 0
pointcloud_channel: "/apollo/sensor/rs128/PointCloud2"
scan_channel: "/apollo/sensor/rs128/Scan"
calibration_file: "/apollo/modules/drivers/robosense/param/rs128"
calibration_file: "/apollo/modules/drivers/lidar/robosense/param/rs128"
use_lidar_clock: false
modules/drivers/robosense/dag/rs128.dag → modules/drivers/lidar/robosense/dag/rs128.dag
浏览文件 @ 06253f8c
module_config {
module_library : "/apollo/bazel-bin/modules/drivers/robosense/librobosense_driver_component.so"
module_library : "/apollo/bazel-bin/modules/drivers/lidar/robosense/librobosense_driver_component.so"
components {
class_name : "RobosenseComponent"
config {
name : "RS128_Driver"
config_file_path : "/apollo/modules/drivers/robosense/conf/rs128.pb.txt"
config_file_path : "/apollo/modules/drivers/lidar/robosense/conf/rs128.pb.txt"
}
}
}
module_config {
module_library : "/apollo/bazel-bin/modules/drivers/velodyne/compensator/libvelodyne_compensator_component.so"
module_library : "/apollo/bazel-bin/modules/drivers/lidar/velodyne/compensator/libvelodyne_compensator_component.so"
components {
class_name : "CompensatorComponent"
config {
name : "RS128_Compensator"
config_file_path : "/apollo/modules/drivers/robosense/conf/rs128_compensator.pb.txt"
config_file_path : "/apollo/modules/drivers/lidar/robosense/conf/rs128_compensator.pb.txt"
readers {channel: "/apollo/sensor/rs128/PointCloud2"}
}
}
......
modules/drivers/robosense/dag/rs16.dag → modules/drivers/lidar/robosense/dag/rs16.dag
浏览文件 @ 06253f8c
module_config {
module_library : "/apollo/bazel-bin/modules/drivers/robosense/librobosense_driver_component.so"
module_library : "/apollo/bazel-bin/modules/drivers/lidar/robosense/librobosense_driver_component.so"
components {
class_name : "RobosenseComponent"
config {
name : "RS16_Driver"
config_file_path : "/apollo/modules/drivers/robosense/conf/rs16.pb.txt"
config_file_path : "/apollo/modules/drivers/lidar/robosense/conf/rs16.pb.txt"
}
}
}
module_config {
module_library : "/apollo/bazel-bin/modules/drivers/velodyne/compensator/libvelodyne_compensator_component.so"
module_library : "/apollo/bazel-bin/modules/drivers/lidar/velodyne/compensator/libvelodyne_compensator_component.so"
components {
class_name : "CompensatorComponent"
config {
name : "RS16_Compensator"
config_file_path : "/apollo/modules/drivers/robosense/conf/rs16_compensator.pb.txt"
config_file_path : "/apollo/modules/drivers/lidar/robosense/conf/rs16_compensator.pb.txt"
readers {channel: "/apollo/sensor/rs16/PointCloud2"}
}
}
......
modules/drivers/robosense/dag/rs32.dag → modules/drivers/lidar/robosense/dag/rs32.dag
浏览文件 @ 06253f8c
module_config {
module_library : "/apollo/bazel-bin/modules/drivers/robosense/librobosense_driver_component.so"
module_library : "/apollo/bazel-bin/modules/drivers/lidar/robosense/librobosense_driver_component.so"
components {
class_name : "RobosenseComponent"
config {
name : "RS32_Driver"
config_file_path : "/apollo/modules/drivers/robosense/conf/rs32.pb.txt"
config_file_path : "/apollo/modules/drivers/lidar/robosense/conf/rs32.pb.txt"
}
}
}
module_config {
module_library : "/apollo/bazel-bin/modules/drivers/velodyne/compensator/libvelodyne_compensator_component.so"
module_library : "/apollo/bazel-bin/modules/drivers/lidar/velodyne/compensator/libvelodyne_compensator_component.so"
components {
class_name : "CompensatorComponent"
config {
name : "RS32_Compensator"
config_file_path : "/apollo/modules/drivers/robosense/conf/rs32_compensator.pb.txt"
config_file_path : "/apollo/modules/drivers/lidar/robosense/conf/rs32_compensator.pb.txt"
readers {channel: "/apollo/sensor/rs32/PointCloud2"}
}
}
......
modules/drivers/robosense/dag/rsbp.dag → modules/drivers/lidar/robosense/dag/rsbp.dag
浏览文件 @ 06253f8c
module_config {
module_library : "/apollo/bazel-bin/modules/drivers/robosense/librobosense_driver_component.so"
module_library : "/apollo/bazel-bin/modules/drivers/lidar/robosense/librobosense_driver_component.so"
components {
class_name : "RobosenseComponent"
config {
name : "RSbp_Driver"
config_file_path : "/apollo/modules/drivers/robosense/conf/rsbp.pb.txt"
config_file_path : "/apollo/modules/drivers/lidar/robosense/conf/rsbp.pb.txt"
}
}
}
module_config {
module_library : "/apollo/bazel-bin/modules/drivers/velodyne/compensator/libvelodyne_compensator_component.so"
module_library : "/apollo/bazel-bin/modules/drivers/lidar/velodyne/compensator/libvelodyne_compensator_component.so"
components {
class_name : "CompensatorComponent"
config {
name : "RSbp_Compensator"
config_file_path : "/apollo/modules/drivers/robosense/conf/rsbp_compensator.pb.txt"
config_file_path : "/apollo/modules/drivers/lidar/robosense/conf/rsbp_compensator.pb.txt"
readers {channel: "/apollo/sensor/rsbp/PointCloud2"}
}
}
......
modules/drivers/robosense/decoder/decoder_128.hpp → modules/drivers/lidar/robosense/decoder/decoder_128.hpp
浏览文件 @ 06253f8c
......@@ -19,7 +19,7 @@
#include <utility>
#include <vector>
#include "modules/drivers/robosense/decoder/decoder_base.hpp"
#include "modules/drivers/lidar/robosense/decoder/decoder_base.hpp"
namespace apollo {
namespace drivers {
namespace robosense {
......
modules/drivers/robosense/decoder/decoder_16.hpp → modules/drivers/lidar/robosense/decoder/decoder_16.hpp
浏览文件 @ 06253f8c
......@@ -19,7 +19,7 @@
#include <utility>
#include <vector>
#include "modules/drivers/robosense/decoder/decoder_base.hpp"
#include "modules/drivers/lidar/robosense/decoder/decoder_base.hpp"
namespace apollo {
namespace drivers {
namespace robosense {
......
modules/drivers/robosense/decoder/decoder_32.hpp → modules/drivers/lidar/robosense/decoder/decoder_32.hpp
浏览文件 @ 06253f8c
......@@ -19,7 +19,7 @@
#include <utility>
#include <vector>
#include "modules/drivers/robosense/decoder/decoder_base.hpp"
#include "modules/drivers/lidar/robosense/decoder/decoder_base.hpp"
namespace apollo {
namespace drivers {
namespace robosense {
......
modules/drivers/robosense/decoder/decoder_bp.hpp → modules/drivers/lidar/robosense/decoder/decoder_bp.hpp
浏览文件 @ 06253f8c
......@@ -19,7 +19,7 @@
#include <utility>
#include <vector>
#include "modules/drivers/robosense/decoder/decoder_base.hpp"
#include "modules/drivers/lidar/robosense/decoder/decoder_base.hpp"
namespace apollo {
namespace drivers {
namespace robosense {
......
modules/drivers/robosense/decoder/decoder_factory.hpp → modules/drivers/lidar/robosense/decoder/decoder_factory.hpp
浏览文件 @ 06253f8c
......@@ -17,10 +17,10 @@
#include <memory>
#include <string>
#include "modules/drivers/robosense/decoder/decoder_128.hpp"
#include "modules/drivers/robosense/decoder/decoder_16.hpp"
#include "modules/drivers/robosense/decoder/decoder_32.hpp"
#include "modules/drivers/robosense/decoder/decoder_bp.hpp"
#include "modules/drivers/lidar/robosense/decoder/decoder_128.hpp"
#include "modules/drivers/lidar/robosense/decoder/decoder_16.hpp"
#include "modules/drivers/lidar/robosense/decoder/decoder_32.hpp"
#include "modules/drivers/lidar/robosense/decoder/decoder_bp.hpp"
namespace apollo {
namespace drivers {
......
modules/drivers/robosense/driver/driver.cpp → modules/drivers/lidar/robosense/driver/driver.cpp
浏览文件 @ 06253f8c
......@@ -13,7 +13,7 @@
* See the License for the specific language governing permissions and
* limitations under the License.
*****************************************************************************/
#include "modules/drivers/robosense/driver/driver.h"
#include "modules/drivers/lidar/robosense/driver/driver.h"
namespace apollo {
namespace drivers {
......
modules/drivers/robosense/driver/driver.h → modules/drivers/lidar/robosense/driver/driver.h
浏览文件 @ 06253f8c
......@@ -20,14 +20,14 @@
#include <vector>
#include "modules/drivers/proto/pointcloud.pb.h"
#include "modules/drivers/robosense/proto/config.pb.h"
#include "modules/drivers/robosense/proto/robosense.pb.h"
#include "modules/drivers/lidar/robosense/proto/config.pb.h"
#include "modules/drivers/lidar/robosense/proto/robosense.pb.h"
#include "cyber/cyber.h"
#include "modules/drivers/robosense/decoder/decoder_16.hpp"
#include "modules/drivers/robosense/decoder/decoder_factory.hpp"
#include "modules/drivers/robosense/driver/utility.h"
#include "modules/drivers/robosense/input/input.h"
#include "modules/drivers/lidar/robosense/decoder/decoder_16.hpp"
#include "modules/drivers/lidar/robosense/decoder/decoder_factory.hpp"
#include "modules/drivers/lidar/robosense/driver/utility.h"
#include "modules/drivers/lidar/robosense/input/input.h"
#define PKT_DATA_LENGTH 1248
namespace apollo {
namespace drivers {
......
modules/drivers/robosense/driver/robosense_driver_component.cc → modules/drivers/lidar/robosense/driver/robosense_driver_component.cc
浏览文件 @ 06253f8c
......@@ -14,4 +14,4 @@
* limitations under the License.
*****************************************************************************/
#include "modules/drivers/robosense/driver/robosense_driver_component.h"
#include "modules/drivers/lidar/robosense/driver/robosense_driver_component.h"
modules/drivers/robosense/driver/robosense_driver_component.h → modules/drivers/lidar/robosense/driver/robosense_driver_component.h
浏览文件 @ 06253f8c
......@@ -19,10 +19,10 @@
#include <string>
#include <thread>
#include "modules/drivers/robosense/proto/config.pb.h"
#include "modules/drivers/lidar/robosense/proto/config.pb.h"
#include "cyber/cyber.h"
#include "modules/drivers/robosense/driver/driver.h"
#include "modules/drivers/lidar/robosense/driver/driver.h"
namespace apollo {
namespace drivers {
......
modules/drivers/robosense/driver/utility.cpp → modules/drivers/lidar/robosense/driver/utility.cpp
浏览文件 @ 06253f8c
......@@ -13,7 +13,7 @@
* See the License for the specific language governing permissions and
* limitations under the License.
*****************************************************************************/
#include "modules/drivers/robosense/driver/utility.h"
#include "modules/drivers/lidar/robosense/driver/utility.h"
namespace apollo {
namespace drivers {
namespace robosense {
......
modules/drivers/robosense/input/input.cpp → modules/drivers/lidar/robosense/input/input.cpp
浏览文件 @ 06253f8c
......@@ -13,7 +13,7 @@
* See the License for the specific language governing permissions and
* limitations under the License.
*****************************************************************************/
#include "modules/drivers/robosense/input/input.h"
#include "modules/drivers/lidar/robosense/input/input.h"
namespace apollo {
namespace drivers {
......
modules/drivers/robosense/launch/rs128.launch → modules/drivers/lidar/robosense/launch/rs128.launch
浏览文件 @ 06253f8c
<cyber>
<module>
<name>RS128</name>
<dag_conf>/apollo/modules/drivers/robosense/dag/rs128.dag</dag_conf>
<dag_conf>/apollo/modules/drivers/lidar/robosense/dag/rs128.dag</dag_conf>
<process_name>robosense</process_name>
</module>
</cyber>
modules/drivers/robosense/launch/rs16.launch → modules/drivers/lidar/robosense/launch/rs16.launch
浏览文件 @ 06253f8c
<cyber>
<module>
<name>RS16</name>
<dag_conf>/apollo/modules/drivers/robosense/dag/rs16.dag</dag_conf>
<dag_conf>/apollo/modules/drivers/lidar/robosense/dag/rs16.dag</dag_conf>
<process_name>robosense</process_name>
</module>
</cyber>
modules/drivers/robosense/launch/rs32.launch → modules/drivers/lidar/robosense/launch/rs32.launch
浏览文件 @ 06253f8c
<cyber>
<module>
<name>RS32</name>
<dag_conf>/apollo/modules/drivers/robosense/dag/rs32.dag</dag_conf>
<dag_conf>/apollo/modules/drivers/lidar/robosense/dag/rs32.dag</dag_conf>
<process_name>robosense</process_name>
</module>
</cyber>
modules/drivers/robosense/launch/rsbp.launch → modules/drivers/lidar/robosense/launch/rsbp.launch
浏览文件 @ 06253f8c
<cyber>
<module>
<name>RSBP</name>
<dag_conf>/apollo/modules/drivers/robosense/dag/rsbp.dag</dag_conf>
<dag_conf>/apollo/modules/drivers/lidar/robosense/dag/rsbp.dag</dag_conf>
<process_name>robosense</process_name>
</module>
</cyber>
modules/drivers/velodyne/README.md → modules/drivers/lidar/velodyne/README.md
浏览文件 @ 06253f8c
......@@ -11,7 +11,7 @@ Compensation relies on `tf` to query the coordination transform, so gnss_driver
1. data packet
channel: /apollo/sensor/lidar128/Scan
type: apollo::drivers::velodyne::VelodyneScan
proto: [modules/drivers/velodyne/proto/velodyne.proto](https://github.com/ApolloAuto/apollo/blob/master/modules/drivers/velodyne/proto/velodyne.proto)
proto: [modules/drivers/lidar/velodyne/proto/velodyne.proto](https://github.com/ApolloAuto/apollo/blob/master/modules/drivers/lidar/velodyne/proto/velodyne.proto)
2. point cloud
channel: /apollo/sensor/lidar128/PointCloud2
type: apollo::drivers::PointCloud
......
modules/drivers/velodyne/README_cn.md → modules/drivers/lidar/velodyne/README_cn.md
浏览文件 @ 06253f8c
......@@ -13,7 +13,7 @@ velodyne驱动是以component的形式实现的，包含了:
1. 数据包
channel: /apollo/sensor/lidar128/Scan
type: apollo::drivers::velodyne::VelodyneScan
proto: [modules/drivers/velodyne/proto/velodyne.proto](https://github.com/ApolloAuto/apollo/blob/master/modules/drivers/velodyne/proto/velodyne.proto)
proto: [modules/drivers/lidar/velodyne/proto/velodyne.proto](https://github.com/ApolloAuto/apollo/blob/master/modules/drivers/lidar/velodyne/proto/velodyne.proto)
2. 原始点云
channel: /apollo/sensor/lidar128/PointCloud2
type: apollo::drivers::PointCloud
......@@ -32,7 +32,7 @@ velodyne驱动是以component的形式实现的，包含了:
**请先修改并确认launch文件中的参数与实际车辆相对应**
```bash
#in docker
cd /apollo && cyber_launch start modules/drivers/velodyne/launch/velodyne.launch
cd /apollo && cyber_launch start modules/drivers/lidar/velodyne/launch/velodyne.launch
```
### 常见问题
......
modules/drivers/velodyne/compensator/BUILD → modules/drivers/lidar/velodyne/compensator/BUILD
浏览文件 @ 06253f8c
......@@ -19,8 +19,8 @@ cc_library(
"//cyber",
"//modules/common/adapters:adapter_gflags",
"//modules/common/latency_recorder",
"//modules/drivers/velodyne/compensator:compensator_lib",
"//modules/drivers/velodyne/proto:velodyne_cc_proto",
"//modules/drivers/lidar/velodyne/compensator:compensator_lib",
"//modules/drivers/lidar/velodyne/proto:velodyne_cc_proto",
],
)
......@@ -31,7 +31,7 @@ cc_library(
copts = ['-DMODULE_NAME=\\"velodyne\\"'],
deps = [
"//modules/drivers/proto:pointcloud_cc_proto",
"//modules/drivers/velodyne/proto:config_cc_proto",
"//modules/drivers/lidar/velodyne/proto:config_cc_proto",
"//modules/transform:buffer",
"@eigen",
],
......
modules/drivers/velodyne/compensator/compensator.cc → modules/drivers/lidar/velodyne/compensator/compensator.cc
浏览文件 @ 06253f8c
......@@ -14,7 +14,7 @@
* limitations under the License.
*****************************************************************************/
#include "modules/drivers/velodyne/compensator/compensator.h"
#include "modules/drivers/lidar/velodyne/compensator/compensator.h"
#include <limits>
#include <memory>
......
modules/drivers/velodyne/compensator/compensator.h → modules/drivers/lidar/velodyne/compensator/compensator.h
浏览文件 @ 06253f8c
......@@ -28,7 +28,7 @@
#endif
#include "modules/drivers/proto/pointcloud.pb.h"
#include "modules/drivers/velodyne/proto/config.pb.h"
#include "modules/drivers/lidar/velodyne/proto/config.pb.h"
#include "modules/transform/buffer.h"
namespace apollo {
......
scripts/velodyne.sh
浏览文件 @ 06253f8c
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