Dependency
1. ROS
2. sudo apt install libpcap-dev libyaml-cpp-dev
Build
mkdir -p rosworkspace/src ; cd rosworkspace/src
git clone https://github.com/HesaiTechnology/HesaiLidar-ros.git --recursive
cd ../
catkin_make --cmake-args -DCamera_Enable=ON
source ./devel/setup.sh
Run
Pandar40
roslaunch hesai_lidar p40.launch
Pandar40P
roslaunch hesai_lidar p40p.launch
Pandora
roslaunch hesai_lidar pandora_ros.launch
There is 6 node of Hesai Lidar ROS
/pandar_points
/hesai_lidar/pandora_camera0 (Only Pandora)
/hesai_lidar/pandora_camera1 (Only Pandora)
/hesai_lidar/pandora_camera2 (Only Pandora)
/hesai_lidar/pandora_camera3 (Only Pandora)
/hesai_lidar/pandora_camera4 (Only Pandora)
Parameters:
<arg name="server_ip" default="192.168.20.51"/> pandora's ip
<arg name="server_port" default="9870"/> pandora's camera port
<arg name="lidar_recv_port" default="8080"/> lidar's port
<arg name="gps_port" default="10110"/> gps's port
<arg name="start_angle" default="0"/> lidar's start angle
......
<param name="calibration_file" type="string" value="$(find hesai_lidar)/config/calibration.yml"/> Calibration of Camera (Pandora Only, instrinsic and exstrinsic)
<param name="lidar_correction_file" type="string" value="$(find hesai_lidar)/config/correction.csv"/> Calibration of Lidar