D-kit: change config file structure to adjust multiple lidars models

modules/calibration/data/dev_kit/lidar_dag/lidar.dag

+# Define all coms in DAG streaming.
+module_config {
+    module_library : "/apollo/bazel-bin/modules/drivers/velodyne/driver/libvelodyne_driver_component.so"
+
+    components {
+      class_name : "VelodyneDriverComponent"
+      config {
+        name : "velodyne_driver"
+        config_file_path : "/apollo/modules/drivers/lidar/conf/lidar_conf.pb.txt"
+      }
+    }
+}
+
+module_config {
+    module_library : "/apollo/bazel-bin/modules/drivers/velodyne/parser/libvelodyne_convert_component.so"
+
+    components {
+      class_name : "VelodyneConvertComponent"
+      config {
+        name : "velodyne_convert"
+        config_file_path : "/apollo/modules/drivers/lidar/conf/lidar_conf.pb.txt"
+        readers {channel: "/apollo/sensor/lidar16/Scan"}
+      }
+    }
+}
+
+module_config {
+    module_library : "/apollo/bazel-bin/modules/drivers/velodyne/compensator/libvelodyne_compensator_component.so"
+
+    components {
+      class_name : "CompensatorComponent"
+      config {
+        name : "velodyne_compensator"
+        config_file_path : "/apollo/modules/drivers/lidar/conf/lidar_fusion_compensator.pb.txt"
+        readers {channel: "/apollo/sensor/lidar16/PointCloud2"}
+      }
+    }
+}
+
+

modules/dreamview/conf/hmi_modes/dev_kit_close_loop.pb.txt

 cyber_modules {
   key: "Camera"
   value: {
-    dag_files: "/apollo/modules/drivers/camera/dag/camera.dag"
+    dag_files: "/apollo/modules/drivers/camera/dag/dev_kit_camera.dag"
     dag_files: "/apollo/modules/drivers/video/dag/video.dag"
     required_for_safety: false
   }
@@ -9,7 +9,7 @@ cyber_modules {
 cyber_modules {
   key: "Lidar"
   value: {
-    dag_files: "/apollo/modules/drivers/velodyne/dag/velodyne16.dag"
+    dag_files: "/apollo/modules/drivers/lidar/dag/lidar.dag"
   }
 }
 cyber_modules {

modules/dreamview/conf/hmi_modes/dev_kit_debug.pb.txt

 cyber_modules {
   key: "Camera"
   value: {
-    dag_files: "/apollo/modules/drivers/camera/dag/camera.dag"
+    dag_files: "/apollo/modules/drivers/camera/dag/dev_kit_camera.dag"
     dag_files: "/apollo/modules/drivers/video/dag/video.dag"
   }
 }
 cyber_modules {
   key: "Lidar"
   value: {
-    dag_files: "/apollo/modules/drivers/velodyne/dag/velodyne16.dag"
+    dag_files: "/apollo/modules/drivers/lidar/dag/lidar.dag"
   }
 }
 cyber_modules {

modules/dreamview/conf/vehicle_data.pb.txt

@@ -138,3 +138,11 @@ data_files {
   source_path: "perception_launch"
   dest_path: "/apollo/modules/perception/production/launch"
 }
+data_files {
+  source_path: "lidar_dag"
+  dest_path: "/apollo/modules/drivers/lidar/dag"
+}
+data_files {
+  source_path: "lidar_conf"
+  dest_path: "/apollo/modules/drivers/lidar/conf"
+}
\ No newline at end of file

modules/drivers/lidar/conf/lidar_compensator.pb.txt

+world_frame_id: "world"
+transform_query_timeout: 0.02
+output_channel: "/apollo/sensor/lidar16/compensator/PointCloud2"

modules/drivers/lidar/conf/lidar_conf.pb.txt

+frame_id: "velodyne128"
+scan_channel: "/apollo/sensor/lidar16/Scan"
+rpm: 600.0
+model: VLP16
+mode: STRONGEST
+prefix_angle: 18000
+firing_data_port: 2369
+positioning_data_port: 8309
+use_sensor_sync: false
+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"
+organized: false
+convert_channel_name: "/apollo/sensor/lidar16/PointCloud2"
+use_poll_sync: true
+is_main_frame: true

modules/drivers/lidar/conf/lidar_fusion_compensator.pb.txt

+world_frame_id: "world"
+transform_query_timeout: 0.02
+output_channel: "/apollo/sensor/lidar16/compensator/PointCloud2"

modules/drivers/lidar/dag/lidar.dag

+# Define all coms in DAG streaming.
+module_config {
+    module_library : "/apollo/bazel-bin/modules/drivers/velodyne/driver/libvelodyne_driver_component.so"
+
+    components {
+      class_name : "VelodyneDriverComponent"
+      config {
+        name : "velodyne_driver"
+        config_file_path : "/apollo/modules/drivers/lidar/conf/lidar_conf.pb.txt"
+      }
+    }
+}
+
+module_config {
+    module_library : "/apollo/bazel-bin/modules/drivers/velodyne/parser/libvelodyne_convert_component.so"
+
+    components {
+      class_name : "VelodyneConvertComponent"
+      config {
+        name : "velodyne_convert"
+        config_file_path : "/apollo/modules/drivers/lidar/conf/lidar_conf.pb.txt"
+        readers {channel: "/apollo/sensor/lidar16/Scan"}
+      }
+    }
+}
+
+module_config {
+    module_library : "/apollo/bazel-bin/modules/drivers/velodyne/compensator/libvelodyne_compensator_component.so"
+
+    components {
+      class_name : "CompensatorComponent"
+      config {
+        name : "velodyne_compensator"
+        config_file_path : "/apollo/modules/drivers/lidar/conf/lidar_fusion_compensator.pb.txt"
+        readers {channel: "/apollo/sensor/lidar16/PointCloud2"}
+      }
+    }
+}
+
+