# 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](https://github.com/HesaiTechnology/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
- QT
- FT120
- XT16/XT32

### 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