Hesai Pandar40P

This repository includes the ROS Driver for the Pandar40p LiDAR sensor manufactured by Hesai Technology.

How to Build

Install catkin_tools

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

Compile

1. Create ROS Workspace. i.e. rosworkspace

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

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

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

4. Compile

$ catkin config --install
$ catkin build --force-cmake

How to Launch

1. While in the rosworkspace directory.

$ source install/setup.bash
$ roslaunch pandar pandar40p_driver.launch

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

/pandar40p/sensor/pandar40p/hesai40/PointCloud2

3. Open Rviz and add display by topic.
4. Change fixed frame to match the one in the launch file (Default hesai40)

Available parameters in the Launch file

Parameter	Default Value
pandar40p_ip	192.168.20.51
lidar_recv_port	2368
gps_recv_port	10110
start_angle	135
timezone	8
frame_id	hesai40
lidar_topic	/pandar40p/sensor/pandar40p/hesai40/PointCloud2