Dependency

1. ROS
2. sudo apt install libpcap-dev libyaml-cpp-dev

Build

mkdir -p rosworkspace/src ; cd rosworkspace/src
git clone https://github.com/HesaiTechnology/HesaiLidar-ros.git --recursive
cd ../
catkin_make --cmake-args -DCamera_Enable=ON
source ./devel/setup.sh

Run

Pandar40

roslaunch hesai_lidar p40.launch

Pandar40P

roslaunch hesai_lidar p40p.launch

Pandora

roslaunch hesai_lidar pandora_ros.launch

There is 6 node of Hesai Lidar ROS

/pandar_points
/hesai_lidar/pandora_camera0 (Only Pandora)
/hesai_lidar/pandora_camera1 (Only Pandora)
/hesai_lidar/pandora_camera2 (Only Pandora)
/hesai_lidar/pandora_camera3 (Only Pandora)
/hesai_lidar/pandora_camera4 (Only Pandora)

Parameters:

	<arg name="server_ip" default="192.168.20.51"/> pandora's ip
	<arg name="server_port"  default="9870"/>       pandora's camera port
	<arg name="lidar_recv_port"  default="8080"/>   lidar's port
	<arg name="gps_port"  default="10110"/>         gps's port
	<arg name="start_angle"  default="0"/>          lidar's start angle

  ......

	<param name="calibration_file" type="string" value="$(find hesai_lidar)/config/calibration.yml"/>  Calibration of Camera (Pandora Only, instrinsic and exstrinsic)
	<param name="lidar_correction_file"  type="string" value="$(find hesai_lidar)/config/correction.csv"/> Calibration of Lidar