{
  "lidar_summary_info": {
    "lidar_type": 8
  },
  "MID360": {
    "lidar_net_info": {
      "cmd_data_port": 56100,
      "push_msg_port": 56200,
      "point_data_port": 56300,
      "imu_data_port": 56400,
      "log_data_port": 56500
    },
    "host_net_info": {
      "cmd_data_ip": "192.168.123.222",
      "cmd_data_port": 56101,
      "push_msg_ip": "192.168.123.222",
      "push_msg_port": 56201,
      "point_data_ip": "192.168.123.222",
      "point_data_port": 56301,
      "imu_data_ip": "192.168.123.222",
      "imu_data_port": 56401,
      "log_data_ip": "",
      "log_data_port": 56501
    }
  },
  "lidar_configs": [
    {
      "ip": "192.168.123.120",
      "pcl_data_type": 1,
      "pattern_mode": 0,
      "extrinsic_parameter": {
        "roll": 0.0,
        "pitch": 0.0,
        "yaw": 0.0,
        "x": 0.0,
        "y": 0.0,
        "z": 1.3
      }
    }
  ]
}