Introduction to HesaiLidar_ROS_2.0

This repository includes the ROS Driver for Hesai LiDAR sensor manufactured by Hesai Technology. Developed based on HesaiLidar_SDK_2.0, After launched, the project will monitor UDP packets from Lidar,parse data and publish point cloud frames into ROS topic

Support Lidar type

• Pandar
• AT128/AT128P
• QT
• FT120
• XT16/XT32
• ET25
• OT

Installation dependencies

Install ROS related dependency libraries, please refer to: http://wiki.ros.org

• Ubuntu 16.04 - ROS Kinetic desktop
• Ubuntu 18.04 - ROS Melodic desktop
• Ubuntu 20.04 - ROS Noetic desktop
• Ubuntu 18.04 - ROS2 Dashing desktop
• Ubuntu 20.04 - ROS2 Foxy desktop
• Ubuntu 22.04 - ROS2 Humble desktop

Install Boost

sudo apt-get update
sudo apt-get install libboost-all-dev

Install Yaml

sudo apt-get update
sudo apt-get install -y libyaml-cpp-dev

Clone

$ git clone --recurse-submodules https://github.com/HesaiTechnology/HesaiLidar_ROS_2.0.git

Compile and run

• ros1

  Create an src folder, copy the source code of the ros driver into it, and then run the following command:

    catkin_make
    source devel/setup.bash
    roslaunch hesai_ros_driver start.launch
  

• ros2

  Create an src folder, copy the source code of the ros driver into it, and then run the following command:

    colcon build --symlink-install
    . install/local_setup.bash
  

  For ROS2-Dashing

    ros2 launch hesai_ros_driver dashing_start.py
  

  For other ROS2 version

    ros2 launch hesai_ros_driver start.py
  

Introduction to the configuration file config.yaml parameters

lidar:
- driver:
    udp_port: 2368                                       #UDP port of lidar
    ptc_port: 9347                                       #PTC port of lidar
    device_ip_address: 192.168.1.201                     #IP address of lidar
    pcap_path: "<Your PCAP file path>"                   #The path of pcap file (set during offline playback)
    correction_file_path: "<Your correction file path>"  #LiDAR angle file, required for offline playback of pcap/packet rosbag
    firetimes_path: "<Your firetime file path>"          #The path of firetimes file
    source_type: 2                                       #The type of data source, 1: real-time lidar connection, 2: pcap, 3: packet rosbag
    pcap_play_synchronization: true                      #Pcap play rate synchronize with the host time
    x: 0                                                 #Calibration parameter
    y: 0                                                 #Calibration parameter
    z: 0                                                 #Calibration parameter
    roll: 0                                              #Calibration parameter
    pitch: 0                                             #Calibration parameter
    yaw: 0                                               #Calibration parameter
ros:
    ros_frame_id: hesai_lidar                            #Frame id of packet message and point cloud message
    ros_recv_packet_topic: /lidar_packets                #Topic used to receive lidar packets from ROS
    ros_send_packet_topic: /lidar_packets                #Topic used to send lidar packets through ROS
    ros_send_point_cloud_topic: /lidar_points            #Topic used to send point cloud through ROS
    send_packet_ros: true                                #true: Send packets through ROS 
    send_point_cloud_ros: true                           #true: Send point cloud through ROS 

Real time playback

Set the source_type in the configuration file to 1 and input the correct lidar udp_port, ptc_port (default 9347, usually unchanged) and device_ip_address, then run start.launch.

Parsing PCAP file

Set the source_type in the configuration file to 2 and input the correct lidar pcap_path , correction_file_path and firetime_file_path, then run start.launch.

Record and playback ROSBAG file

• Record ：

  When playing or parsing PCAP in real-time, set send_packet_ros to true, start another terminal and enter the following command to record the data packet ROSBAG.

    rosbag record ros_send_packet_topic
  

• Playback ：

  First, replay the recorded rosbag file test.bag using the following command.

    rosbag play test.bag
  

  Set the source_type in the configuration file to 3 and input the correct lidar correction_file_path , firetime_file_path and ros_recv_packet_topic(the topic name of rosbag), then run start.launch.

Realize multi lidar fusion

According to the configuration of a single lidar, multiple drivers can be created in config.yaml, as shown in the following example

lidar:
- driver:              
    udp_port: 2368                  
    ptc_port: 9347              
    device_ip_address: 192.168.1.201          
    pcap_path: "<The PCAP file path>"                  
    correction_file_path: "<The correction file path>" 
    firetimes_path: "<Your firetime file path>"       
    source_type: 2          
    pcap_play_synchronization: true                   
    x: 0                                      
    y: 0                                     
    z: 0                                
    roll: 0                                 
    pitch: 0                             
    yaw: 0                                   
ros:
    ros_frame_id: hesai_lidar                  
    ros_recv_packet_topic: /lidar_packets      
    ros_send_packet_topic: /lidar_packets      
    ros_send_point_cloud_topic: /lidar_points  
    send_packet_ros: true                     
    send_point_cloud_ros: true             
- driver:               
    udp_port: 2368                         
    ptc_port: 9347                           
    device_ip_address: 192.168.1.201                  
    pcap_path: "<The PCAP file path>"                   
    correction_file_path: "<The correction file path>"  
    firetimes_path: "<Your firetime file path>"        
    source_type: 2        
    pcap_play_synchronization: true                     
    x: 0                                       
    y: 0                                       
    z: 0                                       
    roll: 0                                    
    pitch: 0                                   
    yaw: 0                                     
ros:
    ros_frame_id: hesai_lidar                  
    ros_recv_packet_topic: /lidar_packets2     
    ros_send_packet_topic: /lidar_packets2     
    ros_send_point_cloud_topic: /lidar_points2 
    send_packet_ros: false                     
    send_point_cloud_ros: true