162 lines
6.9 KiB
Markdown
162 lines
6.9 KiB
Markdown
# Introduction to HesaiLidar_ROS_2.0
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This repository includes the ROS Driver for Hesai LiDAR sensor manufactured by Hesai Technology.
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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
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## Support Lidar type
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- Pandar
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- AT128
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- QT
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- FT120
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- XT16/XT32
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### Installation dependencies
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Install ROS related dependency libraries, please refer to: http://wiki.ros.org
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- Ubuntu 16.04 - ROS Kinetic desktop
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- Ubuntu 18.04 - ROS Melodic desktop
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- Ubuntu 20.04 - ROS Noetic desktop
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- Ubuntu 18.04 - ROS2 Dashing desktop
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- Ubuntu 20.04 - ROS2 Foxy desktop
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- Ubuntu 22.04 - ROS2 Humble desktop
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### Install Boost
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sudo apt-get update
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sudo apt-get install libboost-all-dev
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### Install Yaml
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sudo apt-get update
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sudo apt-get install -y libyaml-cpp-dev
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### Clone
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```
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$ git clone --recurse-submodules https://github.com/HesaiTechnology/HesaiLidar_ROS_2.0.git
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```
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### Compile and run
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- ros1
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Create an `src` folder, copy the source code of the ros driver into it, and then run the following command:
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catkin_make
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source devel/setup.bash
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roslaunch hesai_ros_driver start.launch
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- ros2
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Create an `src` folder, copy the source code of the ros driver into it, and then run the following command:
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colcon build --symlink-install
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. install/local_setup.bash
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For ROS2-Dashing
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ros2 launch hesai_ros_driver dashing_start.py
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For other ROS2 version
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ros2 launch hesai_ros_driver start.py
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### Introduction to the configuration file `config.yaml` parameters
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lidar:
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- driver:
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udp_port: 2368 #UDP port of lidar
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ptc_port: 9347 #PTC port of lidar
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device_ip_address: 192.168.1.201 #IP address of lidar
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pcap_path: "<Your PCAP file path>" #The path of pcap file (set during offline playback)
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correction_file_path: "<Your correction file path>" #LiDAR angle file, required for offline playback of pcap/packet rosbag
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firetimes_path: "<Your firetime file path>" #The path of firetimes file
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source_type: 2 #The type of data source, 1: real-time lidar connection, 2: pcap, 3: packet rosbag
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pcap_play_synchronization: true #Pcap play rate synchronize with the host time
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x: 0 #Calibration parameter
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y: 0 #Calibration parameter
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z: 0 #Calibration parameter
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roll: 0 #Calibration parameter
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pitch: 0 #Calibration parameter
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yaw: 0 #Calibration parameter
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ros:
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ros_frame_id: hesai_lidar #Frame id of packet message and point cloud message
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ros_recv_packet_topic: /lidar_packets #Topic used to receive lidar packets from ROS
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ros_send_packet_topic: /lidar_packets #Topic used to send lidar packets through ROS
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ros_send_point_cloud_topic: /lidar_points #Topic used to send point cloud through ROS
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send_packet_ros: true #true: Send packets through ROS
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send_point_cloud_ros: true #true: Send point cloud through ROS
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### Real time playback
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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.
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### Parsing PCAP file
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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.
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### Record and playback ROSBAG file
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- Record ：
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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.
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rosbag record ros_send_packet_topic
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- Playback ：
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First, replay the recorded rosbag file `test.bag` using the following command.
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rosbag play test.bag
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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.
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### Realize multi lidar fusion
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According to the configuration of a single lidar, multiple drivers can be created in `config.yaml`, as shown in the following example
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lidar:
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- driver:
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udp_port: 2368
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ptc_port: 9347
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device_ip_address: 192.168.1.201
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pcap_path: "<The PCAP file path>"
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correction_file_path: "<The correction file path>"
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firetimes_path: "<Your firetime file path>"
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source_type: 2
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pcap_play_synchronization: true
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x: 0
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y: 0
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z: 0
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roll: 0
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pitch: 0
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yaw: 0
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ros:
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ros_frame_id: hesai_lidar
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ros_recv_packet_topic: /lidar_packets
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ros_send_packet_topic: /lidar_packets
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ros_send_point_cloud_topic: /lidar_points
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send_packet_ros: true
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send_point_cloud_ros: true
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- driver:
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udp_port: 2368
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ptc_port: 9347
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device_ip_address: 192.168.1.201
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pcap_path: "<The PCAP file path>"
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correction_file_path: "<The correction file path>"
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firetimes_path: "<Your firetime file path>"
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source_type: 2
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pcap_play_synchronization: true
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x: 0
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y: 0
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z: 0
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roll: 0
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pitch: 0
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yaw: 0
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ros:
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ros_frame_id: hesai_lidar
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ros_recv_packet_topic: /lidar_packets2
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ros_send_packet_topic: /lidar_packets2
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ros_send_point_cloud_topic: /lidar_points2
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send_packet_ros: false
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send_point_cloud_ros: true
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