Skip to content

Latest commit

 

History

History
184 lines (147 loc) · 8.51 KB

README.md

File metadata and controls

184 lines (147 loc) · 8.51 KB

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/ET30
  • OT
  • ATX
  • JT16
  • JT128、JT256 (need define JT128_256)

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:
        pcap_play_synchronization: true                       # pcap play rate synchronize with the host time
        udp_port: 2368                                        # UDP port of lidar
        ptc_port: 9347                                        # PTC port of lidar
        device_ip_address: 192.168.1.201                      # host_ip_address
        group_address: 255.255.255.255
        pcap_path: "<Your PCAP file path>"                    # The path of pcap file
        correction_file_path: "<Your correction file path>"   # The path of correction file
        firetimes_path: "<Your firetime file path>"           # The path of firetimes file
        source_type: 1                                        # The type of data source, 1: real-time lidar connection, 2: pcap, 3: packet rosbag, 4: serial    
        frame_start_azimuth: 0                                # Frame azimuth for Pandar128, range from 1 to 359, set it less than 0 if you do not want to use it
        #lidar configuration using serial communication
        rs485_com: "Your serial port name for receiving point cloud"  # if using JT16, Port to receive the point cloud
        rs232_com: "Your serial port name for sending cmd"            # if using JT16, Port to send cmd
        correction_save_path: ""                                      # if using JT16, turn on when you need to store angle calibration files(from lidar)
        # transform param
        x: 0
        y: 0
        z: 0
        roll: 0
        pitch: 0
        yaw: 0
        # decoder param
        use_timestamp_type: 0                                 # 0 use point cloud timestamp; 1 use receive timestamp
        # fov config, [fov_start, fov_end] range [1, 359], [-1, -1]means use default
        fov_start: -1
        fov_end:  -1
        enable_packet_loss_tool: true                         # enable the udp packet loss detection tool
        distance_correction_lidar_flag: false                 # set to true when optical centre correction needs to be turned on
        xt_spot_correction: false                             # Set to TRUE when XT S point cloud layering correction is required
        device_udp_src_port: 0                                # Filter point clouds for specified source ports in case of multiple lidar, setting >=1024
        device_fault_port: 0                                  # Filter fault message for specified source ports in case of multiple lidar, setting >=1024
    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
        ros_send_imu_topic: /lidar_imu                       # Topic used to send lidar imu message
        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