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03_how_to_parse_pcap_data

3.1 Related Parameters

pcap_file: pcap file path

packet_rate(optional)：Playback rate for the file, default is 10,000 (1.0x).

  • When packet_rate=0, playback at maximum speed.
  • When packet_rate<=100, playback according to file size at a speed of <packet_rate> MB/s.
  • When packet_rate>100, playback at a rate of (<packet_rate>/10,000.0)x.

file_rewind: Number of replays, default is 0, which means play once only.

  • When file_rewind>=0, replay <file_rewind> times.
  • When file_rewind=-1, loop playback.

Note: lidar_ip and udp_port need to match the lidar data in the pcap file.

3.2 config.yaml

common:
  log_level: info                                     #Log level: info, warn, error
lidars:
  - lidar:
      frame_id: seyond                                #Frame id
      packet_topic: /iv_packets                       #Packet topic
      frame_topic: /iv_points                         #Frame topic

      lidar_name: seyond                              #Lidar name
      lidar_ip: 172.168.1.10                          #Lidar ip
      udp_port: 8010                                  #Udp port, if < 0, use tcp

      pcap_file: '/home/demo/demo.pcap'               #Pcap file
      packet_rate: 10000                              #Packet rate
      file_rewind: 0                                  #File rewind
// ros
roslaunch seyond start_with_config.launch
// ros2
ros2 launch seyond start_with_config.py

3.3 Start using command line parameters

// ros
roslaunch seyond start.launch pcap_file:=<pcap_file_path> lidar_ip:=<lidar_ip> udp_port:=<udp_port>
// ros2
ros2 launch seyond start.py pcap_file:=<pcap_file_path> lidar_ip:=<lidar_ip> udp_port:=<udp_port>