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2020-05-06 12:01:20 +08:00
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@@ -256,7 +256,7 @@ livox_ros_driver only supports the timestamp synchronization function when conne
| Parameter | Type | Description | Default | | Parameter | Type | Description | Default |
| ---------------- | -------- | ------------------------------------------------------------ | -------------- | | ---------------- | -------- | ------------------------------------------------------------ | -------------- |
| enable_timesync | Boolean | Whether to enable the timestamp synchronization <br>true -- Enable timestamp synchronization<br>false -- Disable timestamp synchronization | false | | enable_timesync | Boolean | Whether to enable the timestamp synchronization <br>true -- Enable timestamp synchronization<br>false -- Disable timestamp synchronization | false |
| device_name | String串 | Name of the serial device to be connected, take "/ dev / ttyUSB0" as an example, indicating that the device sending timestamp information to livox_ros_driver is ttyUSB0 | "/dev/ttyUSB0" | | device_name | String | Name of the serial device to be connected, take "/ dev / ttyUSB0" as an example, indicating that the device sending timestamp information to livox_ros_driver is ttyUSB0 | "/dev/ttyUSB0" |
| comm_device_type | Int | Type of device sending timestamp information<br>0 -- Serial port or USB virtual serial port device<br>other -- not support | 0 | | comm_device_type | Int | Type of device sending timestamp information<br>0 -- Serial port or USB virtual serial port device<br>other -- not support | 0 |
| baudrate_index | Int | Baud rate of serial device<br>0 -- 2400 <br>1 -- 4800 <br>2 -- 9600 <br>3 -- 19200 <br>4 -- 38400 <br>5 -- 57600 <br>6 -- 115200 <br>7 -- 230400 <br>8 -- 460800 <br>9 -- 500000 <br>10 -- 576000 <br>11 -- 921600 | 2 | | baudrate_index | Int | Baud rate of serial device<br>0 -- 2400 <br>1 -- 4800 <br>2 -- 9600 <br>3 -- 19200 <br>4 -- 38400 <br>5 -- 57600 <br>6 -- 115200 <br>7 -- 230400 <br>8 -- 460800 <br>9 -- 500000 <br>10 -- 576000 <br>11 -- 921600 | 2 |
| parity_index | Int | parity type<br>0 -- 8bits data without parity<br>1 -- 7bits data 1bit even parity<br>2 -- 7bits data 1bit odd parity<br>3 -- 7bits data 1bit 0, without parity | 0 | | parity_index | Int | parity type<br>0 -- 8bits data without parity<br>1 -- 7bits data 1bit even parity<br>2 -- 7bits data 1bit odd parity<br>3 -- 7bits data 1bit 0, without parity | 0 |