`isaac_ros_hesai`

Source code on GitHub.

https://media.githubusercontent.com/media/NVIDIA-ISAAC-ROS/.github/main/resources/isaac_ros_docs/repositories_and_packages/isaac_ros_nova/hesai_xt32.png/

Overview

A LIDAR uses light in the form of a pulsed laser to measure ranges (variable distance) as part of a perception for understanding of the robot and its environment.

The isaac_ros_hesai driver provides support for the XT32 mid-range LIDAR that provides 32 beam, 360 degree sensing with from 0.05m to >100m with a field of view of -16 to 31 degrees.

Quickstart

Set Up Development Environment

Set up your development environment by following the instructions in getting started.

Clone isaac_ros_common under ${ISAAC_ROS_WS}/src.

cd ${ISAAC_ROS_WS}/src && \
   git clone -b release-3.1 https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_common.git isaac_ros_common

(Optional) Install dependencies for any sensors you want to use by following the sensor-specific guides.

Warning

We strongly recommend installing all sensor dependencies before starting any quickstarts. Some sensor dependencies require restarting the Isaac ROS Dev container during installation, which will interrupt the quickstart process.

Build `isaac_ros_hesai`

Launch the Docker container using the run_dev.sh script:

cd ${ISAAC_ROS_WS}/src/isaac_ros_common && \
./scripts/run_dev.sh

Install the prebuilt Debian package:

sudo apt-get install -y ros-humble-isaac-ros-hesai

Clone this repository under ${ISAAC_ROS_WS}/src:

cd ${ISAAC_ROS_WS}/src && \
   git clone -b release-3.1 https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_nova.git isaac_ros_nova

Launch the Docker container using the run_dev.sh script:

cd ${ISAAC_ROS_WS}/src/isaac_ros_common && \
./scripts/run_dev.sh

Use rosdep to install the package’s dependencies:

rosdep install --from-paths ${ISAAC_ROS_WS}/src/isaac_ros_nova/isaac_ros_hesai --ignore-src -y

Build the package from source:

cd ${ISAAC_ROS_WS} && \
   colcon build --symlink-install --packages-up-to isaac_ros_hesai

Source the ROS workspace:

Note

Make sure to repeat this step in every terminal created inside the Docker container.

Because this package was built from source, the enclosing workspace must be sourced for ROS to be able to find the package’s contents.
```
source install/setup.bash
```

Run Launch File

Continuing inside the Docker container, launch the Hesai driver:
```
ros2 launch isaac_ros_hesai hesai.launch.py
```

Visualize Results

Open a new terminal inside the Docker container:

cd ${ISAAC_ROS_WS}/src/isaac_ros_common && \
   ./scripts/run_dev.sh

Use rviz2 to visualize the point cloud:

rviz2 -d $(ros2 pkg prefix --share isaac_ros_hesai)/config/hesai.rviz

Troubleshooting

Isaac ROS Troubleshooting

For solutions to problems with Isaac ROS, see troubleshooting.

API

Usage

ros2 launch isaac_ros_hesai hesai.launch.py namespace:=<Namespace> replay:=<Enable replay from rosbag>

ROS Topics Published

ROS Topic	Interface	Description
`/hesai_lidar/lidar_packets`	hesai_ros_driver/msg/UdpFrame	Lidar UDP packets.
`/hesai_lidar/lidar_points`	sensor_msgs/msg/PointCloud2	Lidar point cloud.

isaac_ros_hesai