frame_id: "velodyne16_front_center" scan_channel: "/apollo/sensor/lidar16/front/center/Scan" rpm: 600.0 model: VLP16 mode: STRONGEST prefix_angle: 18000 firing_data_port: 2370 positioning_data_port: 8310 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/front/center/PointCloud2" use_poll_sync: true is_main_frame: false