I want to know more about how to use config.yaml

[Black0Moonlight]

How to change the mode from 3D to 2D? What's the meaning of cloud_scan_num? etc.

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lidar sdk configuration

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Configuration

initialize_type: 2 # 1-Serial, 2-UDP
work_mode: 0
use_system_timestamp: true
range_min: 0
range_max: 100
cloud_scan_num: 18

Serial Port

serial_port: "/dev/ttyACM0"
baudrate: 4000000

UDP Port

lidar_port: 6101
lidar_ip: "192.168.123.62"
pc_port: 6201
pc_ip: "192.168.123.102"

PointCloud

cloud_frame: "unilidar_lidar" # default: "unilidar_lidar"
cloud_topic: "unilidar/cloud" # default: "unilidar/cloud"

IMU

imu_frame: "unilidar_imu" # default: "unilidar_imu"
imu_topic: "unilidar/imu" # default: "unilidar/imu"

2d Laser Scan

laserscan_frame: "unilidar_lidar"
laserscan_topic: "unilidar/laserscan"