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 cloud frames into ROS under topic:

```. 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  
　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/HesaiTechnology/HesaiLidar_General_ROS.git –recursive

**Build**

$ cd .. $ catkin config –install $ catkin build –force-cmake

## 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 ||　　

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

## Run

1. Make sure current path in the `rosworkspace` directory

$ 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”

```

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