apollo 10.0 Hesai lidar driver launch error

[dsamvoel]

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System information

• OS Platform and Distribution (e.g., Linux Ubuntu 18.04): Linux Ubuntu 18.04
• Apollo installed from (source or binary): Source
• Apollo version (3.5, 5.0, 5.5, 6.0): 10.0
• Output of apollo.sh config if on master branch:

Steps to reproduce the issue:

• Please use bullet points and include as much details as possible:
• 1. aem enter - enter apollo docker
• 2. cyberlaunch start modules/drivers/lidar/hslidar/launch/hslidar.launch - launch hslidar driver

Supporting materials (screenshots, command lines, code/script snippets):

After entering the Apollo Docker container and executing the hslidar driver launch file, the above error occurred. In the config file, the only modification made was the device_ip field, which was adjusted to match our LiDAR settings, while all other settings were left as is. Based on the error message, it seems that an incorrect configuration value was read from the config file when launching the LiDAR driver. We would appreciate it if this issue could be resolved as soon as possible. Thank you.

[yuxin-2]

看了下您的报错，是由hslidar_t.pb.txt的配置文件导致 核心错误： [mainboard] Failed to parse file /apollo/modules/drivers/lidar/hslidar/conf/hslidar_t.pb.txt as text proto

问题定位： HSLidar 传感器配置文件 hslidar_t.pb.txt 的 文本协议解析失败，原因可能是：

文件内容存在 语法错误（如括号不匹配/参数格式错误）

Critical Error: [mainboard] Failed to parse file /apollo/modules/drivers/lidar/hslidar/conf/hslidar_t.pb.txt as text proto

Root Cause: Text protocol parsing failure in HSLidar config file, likely due to:

Syntax errors in hslidar_t.pb.txt (e.g. unmatched brackets/illegal parameters)