HesaiLidar_General_ROS

About the project

HesaiLidar_General_ROS project includes the ROS Driver for：
PandarQT/Pandar64/Pandar40P/Pandar20A/Pandar20B/Pandar40M/PandarXT
LiDAR sensor manufactured by Hesai Technology.

Developed based on HesaiLidar_General_SDK, After launched, the project will monitor UDP packets from Lidar, parse data and publish point clouds frames into ROS under topic: /pandar. It can also be used as an official demo showing how to work with HesaiLidar_General_SDK.

Environment and Dependencies

System environment requirement: Linux + ROS

　Recommanded:
　Ubuntu 16.04 - with ROS kinetic desktop-full installed or
　Ubuntu 18.04 - with ROS melodic desktop-full installed or Ubuntu 20.04 - with ROS noetic desktop-full installed 　Check resources on http://ros.org for installation guide

Library Dependencies: libpcap-dev + libyaml-cpp-dev

$sudo apt install libpcap-dev libyaml-cpp-dev

Download and Build

Install catkin_tools

$ sudo apt-get update
$ sudo apt-get install python-catkin-tools

Download code

$ mkdir -p rosworkspace/src
$ cd rosworkspace/src
$ git clone https://github.com/fengyecl/HesaiLidar_General_ROS.git --recursive

Build

$ cd ..
$ catkin_make -DCMAKE_BUILD_TYPE=Release

Configuration

 $ gedit install/share/hesai_lidar/launch/hesai_lidar.launch

Reciving data from connected Lidar: config lidar ip&port, leave the pcap_file empty

Parameter	Default Value
server_ip	192.168.1.201
lidar_recv_port	2368
gps_recv_port	10110
pcap_file
multicast_ip

Data source will be from connected Lidar when "pcap_file" set to empty, when "multicast_ip" configured, driver will get data packets from multicast ip address. keep "multicast_ip" empty if you are not using multicast, thus driver will monitor the "liar_recv_port" to get data. Make sure parameters above set to the same with Lidar setting

Reciving data from pcap file: config pcap_file and correction file path

Parameter	Value
pcap_file	pcap file path
lidar_correction_file	lidar correction file path

Data source will be from pcap file once "pcap_file" not empty

Reciving data from rosbag: config data_type and publish_type,leave the pcap_file empty

Parameter	Value
pcap_file
publish_type	points
data_type	rosbag

Data source will be from rosbag when "pcap_file" is set to empty and "data_type" is set to "rosbag" Make sure the parameter "publish_type" is set to "points" Make sure the parameter "namespace" in file hesai_lidar.launch is same with the namespace in rosbag

Run as independent node

1. Make sure current path in the rosworkspace directory

$ source devel/setup.bash

for PandarQT
$ roslaunch hesai_lidar hesai_lidar.launch lidar_type:="PandarQT" frame_id:="PandarQT"
for Pandar64
$ roslaunch hesai_lidar hesai_lidar.launch lidar_type:="Pandar64" frame_id:="Pandar64"
for Pandar20A
$ roslaunch hesai_lidar hesai_lidar.launch lidar_type:="Pandar20A" frame_id:="Pandar20A"
for Pandar20B
$ roslaunch hesai_lidar hesai_lidar.launch lidar_type:="Pandar20B" frame_id:="Pandar20B"
for Pandar40P
$ roslaunch hesai_lidar hesai_lidar.launch lidar_type:="Pandar40P" frame_id:="Pandar40P"
for Pandar40M
$ roslaunch hesai_lidar hesai_lidar.launch lidar_type:="Pandar40M" frame_id:="Pandar40M"
for PandarXT-32
$ roslaunch hesai_lidar hesai_lidar.launch lidar_type:="PandarXT-32" frame_id:="PandarXT-32"
for PandarXT-16
$ roslaunch hesai_lidar hesai_lidar.launch lidar_type:="PandarXT-16" frame_id:="PandarXT-16"
for PandarXTM
$ roslaunch hesai_lidar hesai_lidar.launch lidar_type:="PandarXTM" frame_id:="PandarXTM"

2. The driver will publish PointCloud messages to the topic /pandar
3. Open Rviz and add display by topic
4. Change fixed frame to frame_id to view published point clouds

Run as nodelet

1. Make sure current path in the rosworkspace directory

$ source devel/setup.bash

for PandarQT
$ roslaunch hesai_lidar cloud_nodelet.launch lidar_type:="PandarQT" frame_id:="PandarQT"
for Pandar64
$ roslaunch hesai_lidar cloud_nodelet.launch lidar_type:="Pandar64" frame_id:="Pandar64"
for Pandar20A
$ roslaunch hesai_lidar cloud_nodelet.launch lidar_type:="Pandar20A" frame_id:="Pandar20A"
for Pandar20B
$ roslaunch hesai_lidar cloud_nodelet.launch lidar_type:="Pandar20B" frame_id:="Pandar20B"
for Pandar40P
$ roslaunch hesai_lidar cloud_nodelet.launch lidar_type:="Pandar40P" frame_id:="Pandar40P"
for Pandar40M
$ roslaunch hesai_lidar cloud_nodelet.launch lidar_type:="Pandar40M" frame_id:="Pandar40M"
for PandarXT-32
$ roslaunch hesai_lidar cloud_nodelet.launch lidar_type:="PandarXT-32" frame_id:="PandarXT-32"
for PandarXT-16
$ roslaunch hesai_lidar cloud_nodelet.launch lidar_type:="PandarXT-16" frame_id:="PandarXT-16"
for PandarXTM
$ roslaunch hesai_lidar cloud_nodelet.launch lidar_type:="PandarXTM" frame_id:="PandarXTM"

2. The driver will publish PointCloud messages to the topic /pandar
3. Open Rviz and add display by topic
4. Change fixed frame to frame_id to view published point clouds

Details of launch file parameters and utilities

Parameter	Default Value
pcap_file	Path of the pcap file, once not empty, driver will get data from pcap file instead of a connected Lidar
server_ip	The IP address of connected Lidar, will be used to get calibration file
lidar_recv_port	The destination port of Lidar, driver will monitor this port to get point clouds packets from Lidar
gps_port	The destination port for Lidar GPS packets, driver will monitor this port to get GPS packets from Lidar
start_angle	Driver will publish one frame point clouds data when azimuth angle step over start_angle, make sure set to within FOV
lidar_type	Lidar module type
frame_id	frame id of published messages
pcldata_type	0:mixed point clouds data type 1:structured point clouds data type
publish_type	default "points":publish point clouds "raw":publish raw UDP packets "both":publish point clouds and UDP packets
timestamp_type	default "": use timestamp from Lidar "realtime" use timestamp from the system driver running on
data_type	default "":driver will get point clouds packets from Lidar or PCAP "rosbag":driver will subscribe topic /pandar_packets to get point clouds packets
namespace	namesapce of the launching node
lidar_correction_file	Path of calibration file, will be used when not able to get calibration file from a connected Liar
multicast_ip	The multicast IP address of connected Lidar, will be used to get udp packets from multicast ip address
coordinate_correction_flag	default "false":Disable coordinate correction "true":Enable coordinate correction