Goemeredian

Setup your sources.list

sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list'

Set up your keys

sudo apt install curl # if you haven't already installed curl curl -s https://raw.githubusercontent.com/ros/rosdistro/master/ros.asc | sudo apt-key add -

Installation

sudo apt-get update

sudo apt-get install ros-kinetic-desktop-full

sudo apt-get install ros-kinetic-desktop

sudo apt-get install ros-kinetic-ros-base

Environment setup

echo "source /opt/ros/kinetic/setup.bash" >> ~/.bashrc source ~/.bashrc

Dependencies for building packages

sudo apt install python-rosdep python-rosinstall python-rosinstall-generator python-wstool build-essential

Initialize rosdep

sudo apt install python-rosdep

rosdep update

Create ROS Space

$ mkdir -p ~/catkin_ws/src

$ cd ~/catkin_ws/

$ catkin_make

Hesai Lidar SDK Installation

$ sudo apt-get update

$ sudo apt-get install python-catkin-tools

$ mkdir -p rosworkspace/src

$ cd rosworkspace/src

$ git clone https://github.com/HesaiTechnology/HesaiLidar_General_ROS.git --recursive

Step 1:- Network configuration change the ip address of hesao to 192.168.1.201

Step 2:- roslaunch hesai_lidar hesai_lidar.launch lidar_type:="PandarXTM" frame_id:="PandarXTM"

Novatel pwrpak7 gnss installation

To install: git clone https://github.com/novatel/novatel_oem7_driver

rosdep install --from-paths src --ignore-src -r -y

cd catkin/src

catkin_make

To launch:

roslaunch novatel_oem7_driver oem7_net.launch oem7_ip_addr:=192.168.1.10

WebUI to record lidar/gnss/slam data

Steps to launch webUI/rosboard:-

Step1: roscore

Step2: roslaunch rosbridge_server rosbridge_websocket.launch

Step3: ./rosboard/run

Step4: Launch the hesai and gnss nodes

Step5: Add the display in UI by topic name

Step6: Press "Record" to store rosbag data(lidar,gnss,slam)

Step7: Press "Stop" to save the rosbag.

To Play rosbag on ros

Step1: To play

rosbag play filename

Step2: To View

launch rviz by "rosrun rviz rviz"

Converting rosbag file to PCD file

rosrun pcl_ros bag_to_pcd file.bag hesai/pandar /

Converting PCD to las

pending

Improvements to do

1.Specify the path to store.

2.Automate PCD conversation from WebUI.

3.Converting PCD to lsa with out help of other software .

logicraju/Geomeredian