Pandar40_ROS

About the project

Pandar40_ROS project includes the ROS Driver for Pandar40 LiDAR sensor manufactured by Hesai Technology.
Note: For the driver of Pandar40P and other modules, please go to HesaiLidar_General_ROS

Developed based on Pandar40_SDK, after launched, the project will monitor UDP packets from Pandar40 Lidar, parse data and publish point cloud frames into ROS under topic: /pandar. It can also be used as an official demo showing how to work with Pandar40_SDK.

Environment and Dependencies

System environment requirement: Linux + ROS

　Recommanded:
　Ubuntu 16.04 - with ROS kinetic desktop-full installed or
　Ubuntu 18.04 - with ROS melodic desktop-full installed
　Check resources on http://ros.org for installation guide

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

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

Download and Build

Install catkin_tools

$ sudo apt-get update
$ sudo apt-get install python-catkin-tools

Download code

$ mkdir -p rosworkspace/src
$ cd rosworkspace/src
$ git clone https://github.com/HesaiTechnology/Pandar40_ROS.git --recursive

Build

$ cd ..
$ catkin_make

Configuration

 $ gedit src/launch/p40.launch

Reciving data from connected Lidar: config lidar ip&port, leave the pcap_file empty

Parameter	Default Value
server_ip	192.168.1.201
lidar_recv_port	2368
gps_recv_port	10110
laser_return_type	0
pcap_file

Data source will be from connected Lidar when "pcap_file" set to empty
Make sure the parameters above set to the same with Lidar setting
Note: (laser_return_type: for single return set to 1, for dural return set to 1)

Reciving data from pcap file: config pcap_file and correction file path

Parameter	Value
pcap_file	pcap file path
lidar_correction_file	lidar correction file path
laser_return_type	return type of lidar in pcap file

Data source will be from pcap file once "pcap_file" not empty

Run

1. Make sure current path in the rosworkspace directory

$ source devel/setup.bash
$ roslaunch hesai_lidar p40.launch

2. The driver will publish PointCloud messages to the topic /pandar_points
3. Open Rviz and add display by topic
4. Change fixed frame to pandar to view published point clouds