How to change the detection degree of LiDAR

[RezaMehrabian]

I am looking for the right file and function where the LiDAR driver is written in Apollo 5.0. I want to reduce its 360 degrees detection to something less.

Is this possible?

I know in the JSON file we define it as "MeasurementsPerRotation" but where this file is read? I think by knowing that, I can alter the degree. Please let me know where JSON file is used.

Thanks.

• **OS Platform and Distribution ubuntu 16.04
• Apollo installed from (source or binary): Apollo source 5.0
• Apollo version (1.0, 1.5, 2.0, 2.5, 3.0):

[daohu527]

I read the code and didn't find any configuration of lidar. Apollo only received lidar data via UDP.

I found that the lidar configuration can be set through the web UI provided by the lidar manufacturer. an example of hesai.

4 Web Control Web Control can be used to set Pandar64 parameters, check device info, and upgrade. Before setting, please connect LiDAR and the computer using Ethernet cable. Set IP address to 192.168.1.25.

you can download the pdf here

[RezaMehrabian]

@daohu527 Thank you for your reply. Actually, I am working on the LGSVL simulator. Therefore, I need the LiDAR component in the simulation and I asked about the simulation. Do you have a solution for such a simulation?

[daohu527]

The config is in Assets/Scripts/Sensors/LidarSensorBase.cs

Lidar is done with a “Scriptable Rendering Pipeline”, you can dive into it(HDRP).

[RezaMehrabian]

@daohu527 Where? in LGSVL or Apollo-5.0.

I looked at both I could not find.

[daohu527]

lgsvl source code

[unacao]

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