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hesai_ros_driver package from openbot_ros repo

hesai_ros_driver openbot_driver realsense2_camera realsense2_camera_msgs realsense2_description openbot_msgs openbot_ros openbot_rviz openbot_simulator openbot_teleop

API Docs
Browse Code

Package Summary

Tags	No category tags.
Version	1.5.0
License	BSD
Build type	CATKIN
Use	RECOMMENDED

Repository Summary

Description
Checkout URI	https://github.com/openbotpioneer/openbot_ros.git
VCS Type	git
VCS Version	main
Last Updated	2024-12-10
Dev Status	UNMAINTAINED
CI status	No Continuous Integration
Released	UNRELEASED
Tags	No category tags.
Contributing	Help Wanted (0) Good First Issues (0) Pull Requests to Review (0)

Package Description

The hesai_ros_driver_node package

Additional Links

No additional links.

Maintainers

hesaiwuxiaozhou

Authors

No additional authors.

openbot_driver/HesaiLidar_ROS_2.0/README.md

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                    

CHANGELOG

No CHANGELOG found.

Wiki Tutorials

This package does not provide any links to tutorials in it's rosindex metadata. You can check on the ROS Wiki Tutorials page for the package.

Package Dependencies

Deps	Name
	roscpp
	rclcpp
	sensor_msgs
	roslib
	std_msgs
	catkin
	ament_cmake
	rosidl_default_generators
	ament_index_cpp
	rclcpp_action

System Dependencies

No direct system dependencies.

Dependant Packages

No known dependants.

Launch files

launch/start.launch

Messages

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `hesai_ros_driver` at Robotics Stack Exchange

API Docs Browse Code

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