# NEUV_Apollo_Driver

**Repository Path**: Neuvition_0720/neuv_apollo_driver

## Basic Information

- **Project Name**: NEUV_Apollo_Driver
- **Description**: NEUV_Apollo_Driver  -- Demo code of Neuv Lidar driver integration
- **Primary Language**: Unknown
- **License**: Not specified
- **Default Branch**: master
- **Homepage**: None
- **GVP Project**: No

## Statistics

- **Stars**: 0
- **Forks**: 0
- **Created**: 2021-07-14
- **Last Updated**: 2021-07-20

## Categories & Tags

**Categories**: Uncategorized

**Tags**: None

## README

## Neuvition Lidar Driver
Neuvition Lidar driver runs as component, the implement is in neuv_apollo_driver

### Output Channels
data packet
	proto: [modules/drivers/neuv_lidar/neuv_apollo_driver/proto/config.proto] 

### Start
**Please change the parameters in the launch file for cars when you start**
```bash
#in docker
bash scripts/cyber_launch.sh start  modules/drivers/neuv_lidar/neuv_apollo_driver/launch/neuv_apollo_lidar.launch
```

### Configuration
The default configuration is in "neuv_apollo_driver/params/neuv_lidar_conf.pb.txt", you can modify it as you need.

scan_channel: "apollo/scan/neuvition"
model: TITAN_M1
frame_id: "neuvition"
pwm_value: 55
laser_period: 0 
data_frame: 0
color_mode: 0
upstream_port: 6668
upstream_host: "192.168.1.101"


### Dependcy
This module was integrated and verified on Apollo V5.5.0

1. it depends pcl-1.72, so you need update the module pcl-1.72 of Apollo
please noted -- need re-compile pcl-1.72 with "--std=c++11" option and update it to system location.

2. it depends opencv3.3 (if your system is lower than it, suggest to update to v3.4.8)

3. curl version
the SDK defaultly linked with version CURL_OPENSSL_4 of curl

### Compile
before the Compile, please copy the module to //modules/drivers/(your-path, for example 'neuv_lidar'). the following is using the same example.
1. you can compile all of modules
   ./apollo.sh build
   
also you can build specified modules with:
   ./apollo.sh build //modules/drivers/neuv_lidar/neuv_apollo_driver/src:libneuvition_driver_component.so


### Launch this service
you can start/stop basic services with:
   ./scripts/bootstrap.sh

also you can start specified modules like:
   ./scripts/cyber_launch.sh start modules/drivers/neuv_lidar/neuv_apollo_driver/launch/neuv_apollo_lidar.launch