Tracy1024/Hesai-P40_ROS

HesaiLidar_General_ROS

This repository includes the ROS Driver for PandarQT/Pandar64/Pandar40P/Pandar20A/Pandar20B/Pandar40M/PandarXT LiDAR sensor manufactured by Hesai Technology.

Build

Install catkin_tools

$ sudo apt-get update
$ sudo apt-get install python-catkin-tools

Compile

1. Create ROS Workspace. i.e. rosworkspace

$ mkdir -p rosworkspace/src
$ cd rosworkspace/src

2. Clone recursively this repository.
3. Install required dependencies with the help of rosdep

$ cd ..
$ rosdep install -y --from-paths src --ignore-src --rosdistro $ROS_DISTRO 

4. Compile

$ catkin config --install
$ catkin build --force-cmake

Config

 $ cd rosworkspace/install/share/hesai_lidar/launch

open hesai_lidar.launch to set configuration parameters

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

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

Run

1. While in the rosworkspace directory.

$ source install/setup.bash
for PandarQT
$ roslaunch hesai_lidar hesai_lidar.launch lidar_type:="PandarQT"
for Pandar64
$ roslaunch hesai_lidar hesai_lidar.launch lidar_type:="Pandar64"
for Pandar20A
$ roslaunch hesai_lidar hesai_lidar.launch lidar_type:="Pandar20A"
for Pandar20B
$ roslaunch hesai_lidar hesai_lidar.launch lidar_type:="Pandar20B"
for Pandar40P
$ roslaunch hesai_lidar hesai_lidar.launch lidar_type:="Pandar40P"
for Pandar40M
$ roslaunch hesai_lidar hesai_lidar.launch lidar_type:="Pandar40M"
for PandarXT-32
$ roslaunch hesai_lidar hesai_lidar.launch lidar_type:="PandarXT-32"
for PandarXT-16
$ roslaunch hesai_lidar hesai_lidar.launch lidar_type:="PandarXT-16"

2. The driver will publish a PointCloud message in the topic.

/pandar

3. Open Rviz and add display by topic.
4. Change fixed frame to lidar_type to view published point clouds.