Apollo vanjee lidar driver (#15438)

* 1.add vanjee lidar driver

* 1.add vanjee lidar(vanjee_720_16/vanjee_720_32)

* 1.去除lpcap的链接指令

* 1.add lidar type(vanjee_720d_16);
2. update documents;

* 1.fix coding specification.

modules/drivers/lidar/vanjeelidar/BUILD

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+load("//tools:apollo_package.bzl", "apollo_package", "apollo_cc_library", "apollo_component")
+load("//tools:cpplint.bzl", "cpplint")
+
+package(default_visibility = ["//visibility:public"])
+
+VANJEE_COPTS = ['-DMODULE_NAME=\\"vanjeelidar\\"']
+
+apollo_component(
+    name = "libvanjeelidar_component.so",
+    copts = VANJEE_COPTS,
+    srcs = [
+        "src/vanjeelidar_component.cpp",
+    ],
+    hdrs = [
+        "src/vanjeelidar_component.h",
+    ],
+    deps = [
+        "//modules/common_msgs/sensor_msgs:pointcloud_cc_proto",
+        "//modules/drivers/lidar/vanjeelidar/proto:vanjeelidar_config_proto",
+        "//modules/drivers/lidar/vanjeelidar/proto:vanjeelidar_proto",
+        "//modules/drivers/lidar/common:lidar_common",
+    ],
+    linkopts = [
+    ]
+)
+
+filegroup(
+    name = "runtime_data",
+    srcs = glob([
+        "conf/*.txt",
+        "conf/*.conf",
+        "dag/*.dag",
+        "launch/*.launch",
+    ]),
+)
+
+apollo_package()
+cpplint()

modules/drivers/lidar/vanjeelidar/README.md

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+# **Vanjee LiDAR Driver**
+
+## 1 Introduction
+
+ **vanjee**  is the lidar driver kit under Apollo platform. Now support *vanjee_720_16  vanjee_720d_16  vanjee_720_32* . 
+
+
+## 2 Run
+
+**All the drivers need to be excuted in Apollo docker environment.**
+
+```sh
+cyber_launch start /apollo/modules/drivers/lidar/vanjeelidar/launch/vanjeelidar.launch
+```
+
+或
+
+```sh
+mainboard -d /apollo/modules/drivers/lidar/vanjeelidar/dag/vanjeelidar.dag
+```
+
+默认话题名：
+
+- 原始点云 -- /apollo/sensor/vanjeelidar/up/PointCloud2"
+- Scan--/apollo/sensor/vanjeelidar/up/Scan
+
+## 3 Parameters Intro
+
+[Intro to parameters](doc/parameter_intro.md)

modules/drivers/lidar/vanjeelidar/README_cn.md

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+# **Vanjee LiDAR Driver**
+
+## 1 工程简介
+
+ **vanjee** 为万集科技在阿波罗平台上的雷达驱动集成包。 目前支持*vanjee_720_16  vanjee_720d_16  vanjee_720_32*型号的雷达。 
+
+## 2 运行
+
+**所有驱动均需要在Apollo Docker环境下运行**
+
+```sh
+cyber_launch start /apollo/modules/drivers/lidar/vanjeelidar/launch/vanjeelidar.launch
+```
+
+或
+
+```sh
+mainboard -d /apollo/modules/drivers/lidar/vanjeelidar/dag/vanjeelidar.dag
+```
+
+默认话题名：
+
+- 原始点云 -- /apollo/sensor/vanjeelidar/up/PointCloud2"
+- Scan--/apollo/sensor/vanjeelidar/up/Scan
+
+## 3 参数介绍
+
+[参数介绍](doc/parameter_intro.md)

modules/drivers/lidar/vanjeelidar/conf/vanjeelidar.pb.txt

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+config_base {
+  scan_channel: "/apollo/sensor/vanjeelidar/up/Scan"
+  point_cloud_channel: "/apollo/sensor/vanjeelidar/up/PointCloud2"
+  frame_id: "vanjeelidar_up"
+
+  # sample ONLINE_LIDAR, RAW_PACKET
+  source_type: ONLINE_LIDAR
+}
+
+# sample: "vanjee_720_16,vanjee_720d_16,vanjee_720_32"
+model: "vanjee_720_16"
+connect_type: 1
+host_msop_port: 3001
+lidar_msop_port: 3333
+host_address: "192.168.2.88"
+lidar_address: "192.168.2.86"
+publish_mode: 2
+start_angle: 0
+end_angle: 360
+min_distance: 0.3
+max_distance: 120
+use_lidar_clock: false
+dense_points: false
+wait_for_difop: true
+config_from_file: false
+angle_path: ""

modules/drivers/lidar/vanjeelidar/dag/vanjeelidar.dag

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+module_config {
+    module_library : "modules/drivers/lidar/vanjeelidar/libvanjeelidar_component.so"
+    components {
+        class_name : "VanjeelidarComponent"
+        config {
+          name : "VanjeeLiDAR_Driver"
+          config_file_path : "/apollo/modules/drivers/lidar/vanjeelidar/conf/vanjeelidar.pb.txt"
+        }
+    }
+}

modules/drivers/lidar/vanjeelidar/doc/parameter_intro.md

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+# Parameter Introduction
+
+
+
+This document will give you a introduction to each parameter in the configuration file.  
+
+For convenient, we take vanjee_720_16 model as an example.
+
+```yaml
+model: "vanjee_720_16"
+connect_type: 1
+host_msop_port: 3001
+lidar_msop_port: 3333
+host_address: "192.168.2.88"
+lidar_address: "192.168.2.86"
+publish_mode: 2
+start_angle: 0
+end_angle: 360
+min_distance: 0.2
+max_distance: 120
+use_lidar_clock: false
+dense_points: false
+wait_for_difop: true
+config_from_file: false
+angle_path: ""
+```
+
+**model**
+
+This is the lidar model, since this configuration file is for vanjee_720_16, we set the model="vanjee_720_16".
+The parameter are as followed below:
+  vanjee_720_16/vanjee_720d_16/vanjee_720_32
+
+
+**connect_type**
+
+This is the net connection model,which is tcp or udp.Set the connect_type="1" if the net connection mode is udp,otherwise set it as "2".
+
+
+**host_msop_port**
+
+This is the port number of host. The default value is 3001.Lidar would send the raw packet to this port.
+
+
+**lidar_msop_port**
+
+This is the port number of lidar. The default value is 3333.Lidar would send the raw packet from this port.
+
+
+**host_address**
+
+This is the host ip address. The default value is "192.168.2.88".Lidar would send the raw packet to this ip address.
+
+
+**lidar_address**
+
+This is the lidar ip address. The default value is "192.168.2.86".Lidar would send the raw packet from this ip address.
+
+
+**publish_mode**
+
+This is the publish mode of lidar point cloud. "0": publish the 1st echo ,"1":publish the 2nd echo ,"2":publish both the 1st and 2nd echos.
+
+
+**start_angle**
+
+The start angle of point cloud,unit:degree.
+
+
+**end_angle**
+
+The end angle of point cloud,unit:degree.The point cloud published would only include the azimuth between start_angle and end_angle.
+
+
+**min_distance**
+
+The minimum distance of point cloud,unit:m.
+
+
+**max_distance**
+
+The maximum distance of point cloud,unit:m.The point cloud published would only include the distance between min_distance and max_distance.
+
+
+**use_lidar_clock**
+
+  - true: The timestamp of lidar messages is the lidar clock.
+
+  - false: The timestamp of lidar messages is the PC system clock.
+
+
+**dense_point**
+
+The flag whether mark the invald point cloud as 'nan'. If you would not mark the invalid point as 'nan',set the dense_point=true,otherwise set it as false.
+
+
+**wait_for_difop**
+
+The flag whether need to request the angle information from the lidar firstly. Usually set wait_for_difop=true in ONLINE_LIDAR mode,otherwise set it as false.
+
+
+**config_from_file**
+
+The flag whether read the angle information from the configuration file .Usually set config_from_file=true in RAW_PACKET mode,otherwise set it as false.
+
+**angle_path**
+
+The path of angle configuration file .

modules/drivers/lidar/vanjeelidar/launch/vanjeelidar.launch

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+<cyber>
+    <module>
+        <name>vanjeelidar</name>
+        <dag_conf>/apollo/modules/drivers/lidar/vanjeelidar/dag/vanjeelidar.dag</dag_conf>
+        <process_name>vanjeelidar</process_name>
+    </module>
+</cyber>

modules/drivers/lidar/vanjeelidar/proto/BUILD

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+## Auto generated by `proto_build_generator.py`
+load("//tools:apollo_package.bzl", "apollo_package")
+load("//tools/proto:proto.bzl", "proto_library")
+
+package(default_visibility = ["//visibility:public"])
+
+proto_library(
+    name = "vanjeelidar_config_proto",
+    srcs = ["vanjeelidar_config.proto"],
+    deps= [
+      "//modules/drivers/lidar/common/proto:lidar_config_base_proto",
+    ]
+)
+
+proto_library(
+    name = "vanjeelidar_proto",
+    srcs = ["vanjeelidar.proto"],
+    deps = [
+      "//modules/common_msgs/basic_msgs:header_proto",
+    ],
+)
+
+apollo_package()

modules/drivers/lidar/vanjeelidar/proto/vanjeelidar.proto

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+syntax = "proto2";
+
+package apollo.drivers.vanjee;
+
+import "modules/common_msgs/basic_msgs/header.proto";
+
+message VanjeeScanPacket {
+  optional uint64 stamp = 1;
+  optional bytes data = 2;
+}
+
+message VanjeeScan {
+  optional bool is_difop = 1;
+  optional bool is_frame_begin = 2;
+  optional bytes data = 3;
+}

modules/drivers/lidar/vanjeelidar/proto/vanjeelidar_config.proto

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+syntax = "proto2";
+
+package apollo.drivers.vanjee;
+
+import "modules/drivers/lidar/common/proto/lidar_config_base.proto";
+
+message Config {
+
+  // lidar base
+  required apollo.drivers.lidar.LidarConfigBase config_base = 33;
+
+  // general param
+  optional string model = 1;
+  // Input Param
+  optional uint32 connect_type = 2;
+  optional uint32 host_msop_port = 3;
+  optional uint32 lidar_msop_port = 4;
+  // Decoder Param
+  optional float start_angle = 5;
+  optional float end_angle = 6;
+  optional float min_distance = 7;
+  optional float max_distance = 8;
+  optional bool use_lidar_clock = 9 [default = false];
+  // supplementary parameters of Decoder Param
+  optional bool dense_points = 10 [default = false];
+  optional bool wait_for_difop = 11 [default = true];
+  optional bool config_from_file = 12 [default = false];
+  optional string angle_path = 13 [default = ""];
+  optional uint32 publish_mode = 14 [default = 2];
+  // supplementary parameters of Input Param
+  optional string host_address = 15 [default = "0.0.0.0"];
+  optional string lidar_address = 16 [default = "0.0.0.0"];
+}