Introduction to HesaiLidar_ROS_2.0

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.

Package Dependencies

Deps	Name
	roscpp
	rclcpp
	sensor_msgs
	roslib
	std_msgs
	catkin
	ament_cmake
	rosidl_default_generators
	ament_index_cpp
	rclcpp_action

System Dependencies

No direct system dependencies.

Dependant Packages

No known dependants.

Launch files

launch/start.launch

Messages

Services

No service files found

Plugins

No plugins found.

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.

hesai_ros_driver package from openbot_ros repo

hesai_ros_driver openbot_driver realsense2_camera realsense2_camera_msgs realsense2_description openbot_msgs openbot_ros openbot_rviz openbot_simulator openbot_teleop

ROS Distro
github

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.

Package Dependencies

Deps	Name
	roscpp
	rclcpp
	sensor_msgs
	roslib
	std_msgs
	catkin
	ament_cmake
	rosidl_default_generators
	ament_index_cpp
	rclcpp_action

System Dependencies

No direct system dependencies.

Dependant Packages

No known dependants.

Launch files

launch/start.launch

Messages

Services

No service files found

Plugins

No plugins found.

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.

hesai_ros_driver package from openbot_ros repo

hesai_ros_driver openbot_driver realsense2_camera realsense2_camera_msgs realsense2_description openbot_msgs openbot_ros openbot_rviz openbot_simulator openbot_teleop

ROS Distro
github

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.

Package Dependencies

Deps	Name
	roscpp
	rclcpp
	sensor_msgs
	roslib
	std_msgs
	catkin
	ament_cmake
	rosidl_default_generators
	ament_index_cpp
	rclcpp_action

System Dependencies

No direct system dependencies.

Dependant Packages

No known dependants.

Launch files

launch/start.launch

Messages

Services

No service files found

Plugins

No plugins found.

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.

hesai_ros_driver package from openbot_ros repo

hesai_ros_driver openbot_driver realsense2_camera realsense2_camera_msgs realsense2_description openbot_msgs openbot_ros openbot_rviz openbot_simulator openbot_teleop

ROS Distro
github

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.

Package Dependencies

Deps	Name
	roscpp
	rclcpp
	sensor_msgs
	roslib
	std_msgs
	catkin
	ament_cmake
	rosidl_default_generators
	ament_index_cpp
	rclcpp_action

System Dependencies

No direct system dependencies.

Dependant Packages

No known dependants.

Launch files

launch/start.launch

Messages

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `hesai_ros_driver` at Robotics Stack Exchange

hesai_ros_driver package from openbot_ros repo

hesai_ros_driver openbot_driver realsense2_camera realsense2_camera_msgs realsense2_description openbot_msgs openbot_ros openbot_rviz openbot_simulator openbot_teleop

ROS Distro
github

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.

Package Dependencies

Deps	Name
	roscpp
	rclcpp
	sensor_msgs
	roslib
	std_msgs
	catkin
	ament_cmake
	rosidl_default_generators
	ament_index_cpp
	rclcpp_action

System Dependencies

No direct system dependencies.

Dependant Packages

No known dependants.

Launch files

launch/start.launch

Messages

Services

No service files found

Plugins

No plugins found.

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.

hesai_ros_driver package from openbot_ros repo

hesai_ros_driver openbot_driver realsense2_camera realsense2_camera_msgs realsense2_description openbot_msgs openbot_ros openbot_rviz openbot_simulator openbot_teleop

ROS Distro
github

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.

Package Dependencies

Deps	Name
	roscpp
	rclcpp
	sensor_msgs
	roslib
	std_msgs
	catkin
	ament_cmake
	rosidl_default_generators
	ament_index_cpp
	rclcpp_action

System Dependencies

No direct system dependencies.

Dependant Packages

No known dependants.

Launch files

launch/start.launch

Messages

Services

No service files found

Plugins

No plugins found.

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.

hesai_ros_driver package from openbot_ros repo

hesai_ros_driver openbot_driver realsense2_camera realsense2_camera_msgs realsense2_description openbot_msgs openbot_ros openbot_rviz openbot_simulator openbot_teleop

ROS Distro
github

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.

Package Dependencies

Deps	Name
	roscpp
	rclcpp
	sensor_msgs
	roslib
	std_msgs
	catkin
	ament_cmake
	rosidl_default_generators
	ament_index_cpp
	rclcpp_action

System Dependencies

No direct system dependencies.

Dependant Packages

No known dependants.

Launch files

launch/start.launch

Messages

Services

No service files found

Plugins

No plugins found.

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.

hesai_ros_driver package from openbot_ros repo

hesai_ros_driver openbot_driver realsense2_camera realsense2_camera_msgs realsense2_description openbot_msgs openbot_ros openbot_rviz openbot_simulator openbot_teleop

ROS Distro
github

API Docs
Browse Code
Wiki

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.

Package Dependencies

Deps	Name
	roscpp
	rclcpp
	sensor_msgs
	roslib
	std_msgs
	catkin
	ament_cmake
	rosidl_default_generators
	ament_index_cpp
	rclcpp_action

System Dependencies

No direct system dependencies.

Dependant Packages

No known dependants.

Launch files

launch/start.launch

Messages

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `hesai_ros_driver` at Robotics Stack Exchange

API Docs Browse Code Wiki

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

hesai_ros_driver package from openbot_ros repo

hesai_ros_driver openbot_driver realsense2_camera realsense2_camera_msgs realsense2_description openbot_msgs openbot_ros openbot_rviz openbot_simulator openbot_teleop

ROS Distro
github

API Docs
Browse Code
Wiki

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.