Continental’s HFL110 ROS Driver

This package was designed to be a Robotic Operating System (ROS) driver for Continental’s 3D Flash Lidar products.

Supported platforms/releases: | Platform | ROS Release | | ———————————————————- | ————————————————————– | | Ubuntu 16.04 Bionic | ROS Kinetic | | Ubuntu 18.04 Bionic | ROS Melodic | | Ubuntu 20.04 Bionic | ROS Noetic |

License: BSD Two Clause License

Please review the source code documentation for more details on how the project is structured.

Quickstart

Install like any other ROS package:

sudo apt install ros-<ros-distro>-hfl-driver

Note: there may be a delay from when new code is available in this repository to when it will become available via apt.

Install from source

First, make sure your system is supported and already has ROS installed (see table above)

Go ahead and clone this repository into your catkin_ws.

# url
git clone https://github.com/continental/hfl_driver.git
# ssh
git clone git@github.com:continental/hfl_driver.git

Read up on catkin_ws by following this tutorial.

From your catkin_ws directory, use rosdep to install dependencies rosdep install hfl_driver:

rosdep install hfl_driver

Within your catkin_ws directory, go ahead and compile the code:

catkin_make
# with tests
catkin_make run_tests

After a successful compile, add the new HFL ROS packages to your environment:

echo "source <path/to/your/catkin_ws>/devel/setup.bash" >> ~/.bashrc
source ~/.bashrc

In two separate terminals, run the following commands.

Terminal 1:

roscore

Terminal 2:

roslaunch hfl_driver hfl110dcu.launch

Parameters for hfl_driver launch file

TIP: check a launch files arguments before calling roslaunch to confirm you are passing the correct parameters.

TIP: If you cannot connect to the sensor, use wireshark or another network tool to see if you are receiving packets.

Be sure to check the documentation website for more information.

CPP static code analysis

ROS also comes with static code analysis support, therefore in order to run it for the hfl_driver package, type:

catkin_make run_tests roslint_hfl_driver

This will output the errors and warnings on console. If more info is required see this.

Authors

Many have contributed to this project beyond just the people listed here. Thank you to those who have answered any questions, emails or supported the project in other ways. Without you none of this would have been possible.

• Gerardo Bravo
• Evan Flynn

Changelog for package hfl_driver

0.1.0 (2021-03-18)

• remove kinetic from CI due to EOL
• rotation fix, pointcloud size fix, telemetry parsing
• bump ros actions
• fixed documentation
• removed include tof
• removed msg gen
• removed legacy code & clean up cmakelist
• fix some links in readme
• add link to continentals website
• add note to readme
• update readme
• Contributors: Evan Flynn, flynneva

0.0.20 (2020-09-15)

• fixed package.xml for rosdep install
• Contributors: Evan Flynn

0.0.19 (2020-09-11)

• 0.0.19
• Update changelog
• removed hfl_utilties ros package.xml
• Contributors: Evan Flynn

0.0.18 (2020-09-11)

• put in some dummy tests for now
• fixed one unit test
• hfl_utilities needs to be a SHARED lib
• missing image_geometry in package.xml
• fixed merge mistake
• Merge branch 'updates' into ros1/devel
• added comment referencing initMatrix function
• merge in public github changes
• • various updates to pointcloud output
• Contributors: Evan Flynn

0.0.17 (2020-08-28)

• fixed build export depend typo
• add dynamic_reconfigure to build depend
• 0.0.17
• Update changelog
• Contributors: Evan Flynn

0.0.16 (2020-08-28)

• add tf to package.xml
• Update CMakeLists.txt
• add tf to find
• add tf2_geometry_msgs to find
• fixed tf build error
• clean up
• Contributors: Evan Flynn

0.0.15 (2020-08-28)

• open rosrepo pr automatically
• Update changelog
• fixed release workflow typo
• Contributors: Evan Flynn, flynneva

0.0.14 (2020-08-28)

• fixed release workflow typo
• Contributors: Evan Flynn

0.0.13 (2020-08-28)

• fixed roslint error

0.0.12 (2020-08-24)

• removed unnecessary install files
• fix udp_com linking error
• update suppoted platforms
• test depend roslint
• move roslint within conditional
• fixed rostest and arpa warning
• should be catkin_add_gtest
• removed arpa
• fixed for kinetic
• fixed cmake warnings and kinetic error
• added archive destination to install step
• switch back to action-ros-ci
• switch back to manual ros ci
• gh-pages should be html directory
• Update ros_ci.yml
• Contributors: Evan Flynn

0.0.11 (2020-08-04)

• updated release workflow
• Contributors: Evan Flynn

0.0.10 (2020-08-04)