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	OT	QT	XT	AT	FT	JT
Pandar40P	OT128	PandarQT	PandarXT	AT128E2X	FT120	JT16
Pandar64	-	QT128C2X	PandarXT-16	AT128P	-	-
Pandar128E3X	-	-	XT32M2X	ATX	-	-

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
Ubuntu 24.04 - ROS2 Jazzy 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:
      use_gpu: false
      source_type: 1                                  # The type of data source, 1: real-time lidar connection, 2: pcap, 3: packet rosbag, 4: serial    
      # Depending on the type of source_type, fill in the corresponding configuration block (lidar_udp_type, pcap_type, serial_type)
      lidar_udp_type:
        device_ip_address: 192.168.1.201              # host_ip_address. If empty(""), the source ip of the udp point cloud is used
        udp_port: 2368                                # UDP destination port
        ptc_port: 9347                                # PTC port of lidar
        multicast_ip_address: 255.255.255.255

        use_ptc_connected: true                       # Set to false when ptc connection is not used
        correction_file_path: "Your correction file path"   # The path of correction file
        firetimes_path: "Your firetime file path"           # The path of firetimes file

        use_someip: false
        host_ip_address: ""
        fault_message_port: 0

        standby_mode: -1                              # The standby mode: [-1] is invalit [0] in operation [1] standby
        speed: -1                                     # The speed: [-1] invalit, you must make sure your set has been supported by the lidar you are using
        ptc_mode: 0                                   # The ptc mode: [0] tcp [1] tcp_ssl
        # tcp_ssl use
        certFile: ""                                  # Represents the path of the user's certificate
        privateKeyFile: ""                            # Represents the path of the user's private key 
        caFile: ""                                    # Represents the path of the CA certificate 

      pcap_type:
        pcap_path: "Your pcap file"                         # The path of pcap file
        correction_file_path: "Your correction file path"   # The path of correction file
        firetimes_path: "Your firetime file path"           # The path of firetimes file

        pcap_play_synchronization: true                     # pcap play rate synchronize with the host time
        pcap_play_in_loop: false
      
      rosbag_type:
        correction_file_path: "Your correction file path"   # The path of correction file
        firetimes_path: "Your firetime file path"           # The path of firetimes file

      serial_type:
        rs485_com: "Your serial port name for receiving point cloud"  # if using JT16, Port to receive the point cloud
        rs232_com: "Your serial port name for sending cmd"            # if using JT16, Port to send cmd
        point_cloud_baudrate: 3125000
        correction_save_path: ""                                      # turn on when you need to store angle calibration files(from lidar)
        correction_file_path: "Your correction file path"             # The path of correction file
      
      # public module
      use_timestamp_type: 0                 # 0 use point cloud timestamp; 1 use receive timestamp
      frame_start_azimuth: 0                # Frame azimuth for Pandar128, range from 1 to 359, set it less than 0 if you do not want to use it      
      #transform param
      transform_flag: false
      x: 0
      y: 0
      z: 0
      roll: 0
      pitch: 0
      yaw: 0
      #fov config, [fov_start, fov_end] range [1, 359], [-1, -1]means use default
      fov_start: -1
      fov_end:  -1
      # other config
      enable_packet_loss_tool: true         # enable the udp packet loss detection tool
      distance_correction_flag: false       # set to true when optical centre correction needs to be turned on
      xt_spot_correction: false             # Set to TRUE when XT S point cloud layering correction is required
      device_udp_src_port: 0                # Filter point clouds for specified source ports in case of multiple lidar, setting >=1024
      device_fault_port: 0                  # Filter fault message for specified source ports in case of multiple lidar, setting >=1024
    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 rosbag
      ros_send_packet_topic: /lidar_packets           # Topic used to send lidar raw packets through ROS
      ros_send_point_cloud_topic: /lidar_points       # Topic used to send point cloud through ROS
      ros_send_imu_topic: /lidar_imu                  # Topic used to send lidar imu message
      ros_send_packet_loss_topic: /lidar_packets_loss # Topic used to monitor packets loss condition through ROS
      send_packet_ros: false                          # true: Send packets through ROS 
      send_point_cloud_ros: true                      # true: Send point cloud through ROS    
      send_imu_ros: true                              # true: Send imu through ROS

Real time playback

In the configuration file, set source_type to 1, then configure the parameters under lidar_udp_type. Generally, you only need to configure device_ip_address, udp_port, and ptc_port. If the point cloud destination IP is multicast, you need to configure device_ip_address. It is recommended to configure correction_file_path to prevent point cloud parsing failures when the lidar angle calibration file acquisition fails. Then run start.launch.

Parsing PCAP file

In the configuration file, set source_type to 2, then configure the parameters under pcap_type. Generally, you need to configure pcap_path, correction_file_path, and firetime_file_path. For detailed information about pcap_play_synchronization and pcap_play_in_loop functionality, please refer to the parameter introduction section in the SDK README. 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, then configure the parameters under rosbag_type. Generally, you need to configure correction_file_path , firetime_file_path and ros_recv_packet_topic(the topic name of rosbag, under ros), then run start.launch.

Parsing serial data

In the configuration file, set source_type to 4, then configure the parameters under serial_type. Generally, you need to configure rs485_com and rs232_com. It is recommended to configure correction_file_path (required if rs232_com is not used). For other parameters, please refer to the parameter introduction section in the SDK README. 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:
      use_gpu: false
      source_type: 1                                  # The type of data source, 1: real-time lidar connection, 2: pcap, 3: packet rosbag, 4: serial    
      # Depending on the type of source_type, fill in the corresponding configuration block (lidar_udp_type, pcap_type, serial_type)
      lidar_udp_type:
        device_ip_address: 192.168.1.201              # host_ip_address. If empty(""), the source ip of the udp point cloud is used
        udp_port: 2368                                # UDP destination port
        ptc_port: 9347                                # PTC port of lidar
        multicast_ip_address: 255.255.255.255

        use_ptc_connected: true                       # Set to false when ptc connection is not used
        correction_file_path: "Your correction file path"   # The path of correction file
        firetimes_path: "Your firetime file path"           # The path of firetimes file

        use_someip: false
        host_ip_address: ""
        fault_message_port: 0

        standby_mode: -1                              # The standby mode: [-1] is invalit [0] in operation [1] standby
        speed: -1                                     # The speed: [-1] invalit, you must make sure your set has been supported by the lidar you are using
        ptc_mode: 0                                   # The ptc mode: [0] tcp [1] tcp_ssl
        # tcp_ssl use
        certFile: ""                                  # Represents the path of the user's certificate
        privateKeyFile: ""                            # Represents the path of the user's private key 
        caFile: ""                                    # Represents the path of the CA certificate 

      pcap_type:
        pcap_path: "Your pcap file"                         # The path of pcap file
        correction_file_path: "Your correction file path"   # The path of correction file
        firetimes_path: "Your firetime file path"           # The path of firetimes file

        pcap_play_synchronization: true                     # pcap play rate synchronize with the host time
        pcap_play_in_loop: false
      
      rosbag_type:
        correction_file_path: "Your correction file path"   # The path of correction file
        firetimes_path: "Your firetime file path"           # The path of firetimes file

      serial_type:
        rs485_com: "Your serial port name for receiving point cloud"  # if using JT16, Port to receive the point cloud
        rs232_com: "Your serial port name for sending cmd"            # if using JT16, Port to send cmd
        point_cloud_baudrate: 3125000
        correction_save_path: ""                                      # turn on when you need to store angle calibration files(from lidar)
        correction_file_path: "Your correction file path"             # The path of correction file
      
      # public module
      use_timestamp_type: 0                 # 0 use point cloud timestamp; 1 use receive timestamp
      frame_start_azimuth: 0                # Frame azimuth for Pandar128, range from 1 to 359, set it less than 0 if you do not want to use it      
      #transform param
      transform_flag: false
      x: 0
      y: 0
      z: 0
      roll: 0
      pitch: 0
      yaw: 0
      #fov config, [fov_start, fov_end] range [1, 359], [-1, -1]means use default
      fov_start: -1
      fov_end:  -1
      # other config
      enable_packet_loss_tool: true         # enable the udp packet loss detection tool
      distance_correction_flag: false       # set to true when optical centre correction needs to be turned on
      xt_spot_correction: false             # Set to TRUE when XT S point cloud layering correction is required
      device_udp_src_port: 0                # Filter point clouds for specified source ports in case of multiple lidar, setting >=1024
      device_fault_port: 0                  # Filter fault message for specified source ports in case of multiple lidar, setting >=1024
    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 rosbag
      ros_send_packet_topic: /lidar_packets           # Topic used to send lidar raw packets through ROS
      ros_send_point_cloud_topic: /lidar_points       # Topic used to send point cloud through ROS
      ros_send_imu_topic: /lidar_imu                  # Topic used to send lidar imu message
      ros_send_packet_loss_topic: /lidar_packets_loss # Topic used to monitor packets loss condition through ROS
      send_packet_ros: false                          # true: Send packets through ROS 
      send_point_cloud_ros: true                      # true: Send point cloud through ROS    
      send_imu_ros: true                              # true: Send imu through ROS    
  - driver:
      use_gpu: false
      source_type: 1                                  # The type of data source, 1: real-time lidar connection, 2: pcap, 3: packet rosbag, 4: serial    
      # Depending on the type of source_type, fill in the corresponding configuration block (lidar_udp_type, pcap_type, serial_type)
      lidar_udp_type:
        device_ip_address: 192.168.1.202              # host_ip_address. If empty(""), the source ip of the udp point cloud is used
        udp_port: 2369                                # UDP destination port
        ptc_port: 9347                                # PTC port of lidar
        multicast_ip_address: 255.255.255.255

        use_ptc_connected: true                       # Set to false when ptc connection is not used
        correction_file_path: "Your correction file path"   # The path of correction file
        firetimes_path: "Your firetime file path"           # The path of firetimes file

        use_someip: false
        host_ip_address: ""
        fault_message_port: 0

        standby_mode: -1                              # The standby mode: [-1] is invalit [0] in operation [1] standby
        speed: -1                                     # The speed: [-1] invalit, you must make sure your set has been supported by the lidar you are using
        ptc_mode: 0                                   # The ptc mode: [0] tcp [1] tcp_ssl
        # tcp_ssl use
        certFile: ""                                  # Represents the path of the user's certificate
        privateKeyFile: ""                            # Represents the path of the user's private key 
        caFile: ""                                    # Represents the path of the CA certificate 

      pcap_type:
        pcap_path: "Your pcap file"                         # The path of pcap file
        correction_file_path: "Your correction file path"   # The path of correction file
        firetimes_path: "Your firetime file path"           # The path of firetimes file

        pcap_play_synchronization: true                     # pcap play rate synchronize with the host time
        pcap_play_in_loop: false
      
      rosbag_type:
        correction_file_path: "Your correction file path"   # The path of correction file
        firetimes_path: "Your firetime file path"           # The path of firetimes file

      serial_type:
        rs485_com: "Your serial port name for receiving point cloud"  # if using JT16, Port to receive the point cloud
        rs232_com: "Your serial port name for sending cmd"            # if using JT16, Port to send cmd
        point_cloud_baudrate: 3125000
        correction_save_path: ""                                      # turn on when you need to store angle calibration files(from lidar)
        correction_file_path: "Your correction file path"             # The path of correction file
      
      # public module
      use_timestamp_type: 0                 # 0 use point cloud timestamp; 1 use receive timestamp
      frame_start_azimuth: 0                # Frame azimuth for Pandar128, range from 1 to 359, set it less than 0 if you do not want to use it      
      #transform param
      transform_flag: false
      x: 0
      y: 0
      z: 0
      roll: 0
      pitch: 0
      yaw: 0
      #fov config, [fov_start, fov_end] range [1, 359], [-1, -1]means use default
      fov_start: -1
      fov_end:  -1
      # other config
      enable_packet_loss_tool: true         # enable the udp packet loss detection tool
      distance_correction_flag: false       # set to true when optical centre correction needs to be turned on
      xt_spot_correction: false             # Set to TRUE when XT S point cloud layering correction is required
      device_udp_src_port: 0                # Filter point clouds for specified source ports in case of multiple lidar, setting >=1024
      device_fault_port: 0                  # Filter fault message for specified source ports in case of multiple lidar, setting >=1024
    ros:
      ros_frame_id: hesai_lidar                         # Frame id of packet message and point cloud message
      ros_recv_packet_topic: /lidar_packets_2           # Topic used to receive lidar packets from rosbag
      ros_send_packet_topic: /lidar_packets_2           # Topic used to send lidar raw packets through ROS
      ros_send_point_cloud_topic: /lidar_points_2       # Topic used to send point cloud through ROS
      ros_send_imu_topic: /lidar_imu_2                  # Topic used to send lidar imu message
      ros_send_packet_loss_topic: /lidar_packets_loss_2 # Topic used to monitor packets loss condition through ROS
      send_packet_ros: false                            # true: Send packets through ROS 
      send_point_cloud_ros: true                        # true: Send point cloud through ROS    
      send_imu_ros: true                                # true: Send imu through ROS

Name		Name	Last commit message	Last commit date
Latest commit History 107 Commits
config		config
launch		launch
msg		msg
node		node
rviz		rviz
src		src
.gitignore		.gitignore
.gitmodules		.gitmodules
CMakeLists.txt		CMakeLists.txt
README.md		README.md
Version.h.in		Version.h.in
change notes.md		change notes.md
package.xml		package.xml

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Introduction to HesaiLidar_ROS_2.0

Support Lidar type

Installation dependencies

Install Boost

Install Yaml

Clone

Compile and run

Introduction to the configuration file `config.yaml` parameters

Real time playback

Parsing PCAP file

Record and playback ROSBAG file

Parsing serial data

Realize multi lidar fusion

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Introduction to HesaiLidar_ROS_2.0

Support Lidar type

Installation dependencies

Install Boost

Install Yaml

Clone

Compile and run

Introduction to the configuration file config.yaml parameters

Real time playback

Parsing PCAP file

Record and playback ROSBAG file

Parsing serial data

Realize multi lidar fusion

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Introduction to the configuration file `config.yaml` parameters

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