No tf data

[Escapist8086]

At first our project worked very well under ros1 (corresponding to HesaiLidar_General_ROS). Now we want to apply it in Ros2. The corresponding SDK and driver are installed very well (HesaiLidar_General_ROS), but after connecting the radar, it always shows no TF data. .There is no problem with the ros1 node in the same environment, and both the topic and publish lists show that it exists.
Environment:
ubuntu 20.04 (Focal Fossa)
ROS2 foxy
Hesai PandarXT
jetson Xavier1

[GeoffTheJetson]

I am also seeing this issue and cannot seem to visualize any pointclouds using start.py

[Escapist8086]

when launch hesai_ros_driver start.py.An error reported like figure

[Bond-063]

At first our project worked very well under ros1 (corresponding to HesaiLidar_General_ROS). Now we want to apply it in Ros2. The corresponding SDK and driver are installed very well (HesaiLidar_General_ROS), but after connecting the radar, it always shows no TF data. .There is no problem with the ros1 node in the same environment, and both the topic and publish lists show that it exists. Environment: ubuntu 20.04 (Focal Fossa) ROS2 foxy Hesai PandarXT jetson Xavier1

Hello.
Even I'm facing the same issue, were you able to solve this?
If yes please let me know how you solved it.

Thank you

[Castleone98]

if there is "enable_packet_loss_tool: true" in your "config.yaml" file
it'll executed as debug mode so rviz doesn't work

So,make "enable_packet_loss_tool: false" in your "config.yaml" file
or Delete "enable_packet_loss_tool: true".

[quner2024]

Thanks to Hesai's professional help, I finally find a solution for this error.
My environment is AT128 Lidar + Ubuntu 22.04 LTS + ROS2 Humble. Also, my laptop isn't equipped with an NVIDIA Graphics Card.

What most important thing is to turn off ANY firewall like UFW(Ubuntu) or Windows Firewall(Windows). You really need to ensure that there aren't any type of block wall behind u and lidar.

Please double check! You need to completely turn off firewall first.

Then if u do not have NVIDIA Graphics Cards ,u need to go to CMakeLists.txt and find line 158

158 find_package(CUDA )

And change the WHOLE LINE into

158 find_package(CUDA_FOUND )

Finally, colcon build as official docs says:

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

By the way, I didn't change anything including config/config.yaml and lidar works well.