HesaiLidar_Swift_SDK

About the project

This repository includes the software development demo for Pandar LiDAR sensor manufactured by Hesai Technology. Branches are included for different systems and UDP protocol versions:

• master: The software development demo for Ubuntu 18.04 and Ubuntu 20.04 supports Hesai lidar with UDP protocol v1.3, v1.4, v3.2
• ubuntu16.04: The software development demo for Ubuntu 16.04 supports Hesai lidar with UDP protocol v1.3, v1.4, v3.2
• UDP4.3: The software development demo for Ubuntu supports Hesai lidar with UDP protocol v4.3

LiDAR sensor manufactured by Hesai Technology.

Environment and Dependencies

System environment requirement:Linux

Recommanded
-Ubuntu 16.04
-Ubuntu 18.04
-Ubuntu 20.04

Compiler vresion requirement

Cmake version requirement:Cmake 3.8.0 or above
G++ version requirement:G++ 7.5 or above

Library Dependencies: libpcl-dev + libpcap-dev + libyaml-cpp-dev + libboost-dev

$ sudo apt install libpcl-dev libpcap-dev libyaml-cpp-dev libboost-dev

Clone

$ git clone https://github.com/HesaiTechnology/HesaiLidar_Swift_SDK.git

Build

1.$ cd HesaiLidar_Swift_SDK
2.$ mkdir build
3.$ cd build
4.$ cmake ..
5.$ make

Add to your project

Cmake

add_subdirectory(<path_to>HesaiLidar_Swift_SDK)

include_directories(
	<path_to>HesaiLidar_Swift_SDK/include
	<path_to>HesaiLidar_Swift_SDK/src
)

target_link_libraries(<Your project>
  PandarSwiftSDK
)

Run

Set the parameters of class PandarSwiftSDK in test.cc

// for Pandar128
PandarSwiftSDK(std::string("192.168.1.201"), "", 2368, 10110, std::string("Pandar128"), \
                                std::string("../params/Pandar128_Correction.csv"), \
                                std::string("../params/Pandar128_Firetimes.csv"), \
                                std::string(""), \
                                lidarCallback, rawcallback, gpsCallback, \
                                std::string(""), \
                                std::string(""), \
                                std::string(""), \
                                0, 0, std::string("both_point_raw"), false, \
                                std::string("../params/QT128C2X_Channel_Cofig.csv"));


// for PandarQT128
PandarSwiftSDK(std::string("192.168.1.201"), "", 2368, 10110, std::string("PandarQT128"), \
                                std::string("../params/QT128C2X_Correction.csv"), \
                                std::string("../params/QT128C2X_Firetimes.csv"), \
                                std::string(""), \
                                lidarCallback, rawcallback, gpsCallback, \
                                std::string(""), \
                                std::string(""), \
                                std::string(""), \
                                0, 0, std::string("both_point_raw"), false, \
                                std::string("../params/QT128C2X_Channel_Cofig.csv"));

Parameter description

        deviceipaddr  	  The ip of the device
        hostIpaddr  	    The ip of the host ip address
        lidarport 	      The port number of lidar data
        gpsport           The port number of gps data
        frameid           The id of the point cloud data published to ROS
        correctionfile    The correction file path
        firtimeflie       The firtime flie path
        pcapfile          The pcap flie path
        pclcallback       The callback of PCL data structure
        rawcallback       The callback of raw data structure
        gpscallback       The callback of GPS structure
        certFile          The path of the user's certificate
        privateKeyFile    The path of the user's private key
        caFile            The path of the root certificate
        start_angle       The start angle of every point cloud should be <real angle> * 100.
        timezone          The timezone of local
        publishmode       The mode of publish
        datatype          The model of input data
coordinateCorrectionFlag  The flag to control whether to do coordinate Correction
    channel_config_file   The channel config file path
        multCastIp           The multicast IP address of connected Lidar, will be used to get udp packets from multicast ip address

Set the pcap flie path only when you what to read a pcap

$ make 
$ ./PandarSwiftTest