This repository includes the ROS Driver for Pandar128 LiDAR sensor manufactured by Hesai Technology.Support UDP protocol version number is 1.3.

$ sudo apt-get update
$ sudo apt install libpcl-dev libpcap-dev libyaml-cpp-dev python-catkin-tools

http://wiki.ros.org/ROS/Installation

1. Create ROS Workspace. i.e. rosworkspace. Please note that "Workspace" is defined by your own, but subfolder "src" is required and cannot be renamed

$ mkdir -p rosworkspace/src
$ cd rosworkspace/src

2. Clone recursively this repository in the current path
3. Install required dependencies with the help of rosdep

$ cd ..
$ rosdep install -y --from-paths src --ignore-src --rosdistro $ROS_DISTRO

4. Compile

$ catkin_make -DCMAKE_BUILD_TYPE=Release

 $ cd src/ROS_P128/pandar_pointcloud/launch

open Pandar128_points.launch to set configuration parameters

Data source will be read from connected LiDAR when "pcap_file" is set to empty

Data source will be read from pcap file instead of LiDAR once "pcap_file" not empty

Set UDP buffer default size

$sudo sysctl -w net.core.rmem_default=26214400

Enter super user mode

$sudo -s

1. While in the rosworkspace directory.

$ source devel/setup.bash
$ roslaunch pandar_pointcloud Pandar128_points.launch

2. The driver will publish a PointCloud2 message in the topic.

/pandar_points

3. Open Rviz and add display by topic.

4. Change fixed frame to "Pandar128" to view published point clouds.

1. While in the rosworkspace directory.

$ source devel/setup.bash
$ roslaunch pandar_pointcloud Pandar128_points.launch

2. The driver will publish a raw data packet message in the topic.

/pandar_packets

3. record raw data rosbag

$rosbag record -b 4096 /pandar_packets

4. stop roslaunch and rosbag record by "Ctrl + C"

5. play raw data rosbag

$rosbag play <rosbagfiel>

6. launch transform_nodelet.launch

$ roslaunch pandar_pointcloud transform_nodelet.launch data_type:=rosbag

7. Open Rviz and add display by topic.
8. Change fixed frame to "Pandar128" to view published point clouds.