No version for distro humble showing github. Known supported distros are highlighted in the buttons above.

Package Summary

Tags No category tags.
Version 1.5.0
License BSD
Build type CATKIN
Use RECOMMENDED

Repository Summary

Description
Checkout URI https://github.com/openbotpioneer/openbot_ros.git
VCS Type git
VCS Version main
Last Updated 2024-12-10
Dev Status UNKNOWN
Released UNRELEASED
Tags No category tags.
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

The hesai_ros_driver_node package

Additional Links

No additional links.

Maintainers

  • hesaiwuxiaozhou

Authors

No additional authors.

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
  • AT128/AT128P
  • QT
  • FT120
  • XT16/XT32
  • ET25
  • OT

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

File truncated at 100 lines see the full file

CHANGELOG
No CHANGELOG found.

Dependant Packages

No known dependants.

Recent questions tagged hesai_ros_driver at Robotics Stack Exchange

No version for distro jazzy showing github. Known supported distros are highlighted in the buttons above.

Package Summary

Tags No category tags.
Version 1.5.0
License BSD
Build type CATKIN
Use RECOMMENDED

Repository Summary

Description
Checkout URI https://github.com/openbotpioneer/openbot_ros.git
VCS Type git
VCS Version main
Last Updated 2024-12-10
Dev Status UNKNOWN
Released UNRELEASED
Tags No category tags.
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

The hesai_ros_driver_node package

Additional Links

No additional links.

Maintainers

  • hesaiwuxiaozhou

Authors

No additional authors.

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
  • AT128/AT128P
  • QT
  • FT120
  • XT16/XT32
  • ET25
  • OT

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

File truncated at 100 lines see the full file

CHANGELOG
No CHANGELOG found.

Dependant Packages

No known dependants.

Recent questions tagged hesai_ros_driver at Robotics Stack Exchange

No version for distro kilted showing github. Known supported distros are highlighted in the buttons above.

Package Summary

Tags No category tags.
Version 1.5.0
License BSD
Build type CATKIN
Use RECOMMENDED

Repository Summary

Description
Checkout URI https://github.com/openbotpioneer/openbot_ros.git
VCS Type git
VCS Version main
Last Updated 2024-12-10
Dev Status UNKNOWN
Released UNRELEASED
Tags No category tags.
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

The hesai_ros_driver_node package

Additional Links

No additional links.

Maintainers

  • hesaiwuxiaozhou

Authors

No additional authors.

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
  • AT128/AT128P
  • QT
  • FT120
  • XT16/XT32
  • ET25
  • OT

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

File truncated at 100 lines see the full file

CHANGELOG
No CHANGELOG found.

Dependant Packages

No known dependants.

Recent questions tagged hesai_ros_driver at Robotics Stack Exchange

No version for distro rolling showing github. Known supported distros are highlighted in the buttons above.

Package Summary

Tags No category tags.
Version 1.5.0
License BSD
Build type CATKIN
Use RECOMMENDED

Repository Summary

Description
Checkout URI https://github.com/openbotpioneer/openbot_ros.git
VCS Type git
VCS Version main
Last Updated 2024-12-10
Dev Status UNKNOWN
Released UNRELEASED
Tags No category tags.
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

The hesai_ros_driver_node package

Additional Links

No additional links.

Maintainers

  • hesaiwuxiaozhou

Authors

No additional authors.

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
  • AT128/AT128P
  • QT
  • FT120
  • XT16/XT32
  • ET25
  • OT

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

File truncated at 100 lines see the full file

CHANGELOG
No CHANGELOG found.

Dependant Packages

No known dependants.

Recent questions tagged hesai_ros_driver at Robotics Stack Exchange

Package Summary

Tags No category tags.
Version 1.5.0
License BSD
Build type CATKIN
Use RECOMMENDED

Repository Summary

Description
Checkout URI https://github.com/openbotpioneer/openbot_ros.git
VCS Type git
VCS Version main
Last Updated 2024-12-10
Dev Status UNKNOWN
Released UNRELEASED
Tags No category tags.
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

The hesai_ros_driver_node package

Additional Links

No additional links.

Maintainers

  • hesaiwuxiaozhou

Authors

No additional authors.

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
  • AT128/AT128P
  • QT
  • FT120
  • XT16/XT32
  • ET25
  • OT

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

File truncated at 100 lines see the full file

CHANGELOG
No CHANGELOG found.

Dependant Packages

No known dependants.

Recent questions tagged hesai_ros_driver at Robotics Stack Exchange

No version for distro galactic showing github. Known supported distros are highlighted in the buttons above.

Package Summary

Tags No category tags.
Version 1.5.0
License BSD
Build type CATKIN
Use RECOMMENDED

Repository Summary

Description
Checkout URI https://github.com/openbotpioneer/openbot_ros.git
VCS Type git
VCS Version main
Last Updated 2024-12-10
Dev Status UNKNOWN
Released UNRELEASED
Tags No category tags.
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

The hesai_ros_driver_node package

Additional Links

No additional links.

Maintainers

  • hesaiwuxiaozhou

Authors

No additional authors.

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
  • AT128/AT128P
  • QT
  • FT120
  • XT16/XT32
  • ET25
  • OT

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

File truncated at 100 lines see the full file

CHANGELOG
No CHANGELOG found.

Dependant Packages

No known dependants.

Recent questions tagged hesai_ros_driver at Robotics Stack Exchange

No version for distro iron showing github. Known supported distros are highlighted in the buttons above.

Package Summary

Tags No category tags.
Version 1.5.0
License BSD
Build type CATKIN
Use RECOMMENDED

Repository Summary

Description
Checkout URI https://github.com/openbotpioneer/openbot_ros.git
VCS Type git
VCS Version main
Last Updated 2024-12-10
Dev Status UNKNOWN
Released UNRELEASED
Tags No category tags.
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

The hesai_ros_driver_node package

Additional Links

No additional links.

Maintainers

  • hesaiwuxiaozhou

Authors

No additional authors.

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
  • AT128/AT128P
  • QT
  • FT120
  • XT16/XT32
  • ET25
  • OT

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

File truncated at 100 lines see the full file

CHANGELOG
No CHANGELOG found.

Dependant Packages

No known dependants.

Recent questions tagged hesai_ros_driver at Robotics Stack Exchange

No version for distro melodic showing github. Known supported distros are highlighted in the buttons above.

Package Summary

Tags No category tags.
Version 1.5.0
License BSD
Build type CATKIN
Use RECOMMENDED

Repository Summary

Description
Checkout URI https://github.com/openbotpioneer/openbot_ros.git
VCS Type git
VCS Version main
Last Updated 2024-12-10
Dev Status UNKNOWN
Released UNRELEASED
Tags No category tags.
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

The hesai_ros_driver_node package

Additional Links

No additional links.

Maintainers

  • hesaiwuxiaozhou

Authors

No additional authors.

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
  • AT128/AT128P
  • QT
  • FT120
  • XT16/XT32
  • ET25
  • OT

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

File truncated at 100 lines see the full file

CHANGELOG
No CHANGELOG found.

Dependant Packages

No known dependants.

Recent questions tagged hesai_ros_driver at Robotics Stack Exchange

No version for distro noetic showing github. Known supported distros are highlighted in the buttons above.

Package Summary

Tags No category tags.
Version 1.5.0
License BSD
Build type CATKIN
Use RECOMMENDED

Repository Summary

Description
Checkout URI https://github.com/openbotpioneer/openbot_ros.git
VCS Type git
VCS Version main
Last Updated 2024-12-10
Dev Status UNKNOWN
Released UNRELEASED
Tags No category tags.
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

The hesai_ros_driver_node package

Additional Links

No additional links.

Maintainers

  • hesaiwuxiaozhou

Authors

No additional authors.

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
  • AT128/AT128P
  • QT
  • FT120
  • XT16/XT32
  • ET25
  • OT

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

File truncated at 100 lines see the full file

CHANGELOG
No CHANGELOG found.

Dependant Packages

No known dependants.

Recent questions tagged hesai_ros_driver at Robotics Stack Exchange