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 cloud frames into ROS under topic: /pandar. It can also be used as an official demo showing how to work with HesaiLidar_General_SDK.
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
Check resources on http://ros.org for installation guide
Library Dependencies: libpcap-dev + libyaml-cpp-dev
$sudo apt install libpcap-dev libyaml-cpp-dev
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/HesaiTechnology/HesaiLidar_General_ROS.git --recursive
Build
$ cd ..
$ catkin config --install
$ catkin build --force-cmake
$ 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 |
Data source will be from connected Lidar when "pcap_file" set to empty 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
- Make sure current path in the
rosworkspacedirectory
$ source install/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"
- The driver will publish PointCloud messages to the topic
/pandar - Open Rviz and add display by topic
- Change fixed frame to frame_id to view published point clouds