Contained here is the HESAI Lidar Plugin for NVIDIA DRIVEWORKS 5.8. Lidar AT128, QT128 and Pandar128 are supported. The plugin is an implementation of NVIDIA's interface for Custom Lidars, described here:
The plugin itself consists of the source codes folder to be built, and the released hesai library folder 'hesai-nvidia-driveworks_plugin' which can be used without compiling the source code.
Contained here are the scripts, dynamic library,and examples explain how to playing the real-time point cloud using the compiled hesai plugin.
For details please read README.md in this folder.
Ubuntu 18.04 - with nvidia driveworks SDK 4.0 installed.
Ubuntu 20.04 - with nvidia driveworks SDK 5.8 installed.
Ensure you have DRIVEWORKS OS installed by NVIDIA SDK Manager in your PC or DRIVE system, also ensure the samples provided by nvidia can be complied in your PC
Described here: https://docs.nvidia.com/drive/drive-os-5.2.6.0L/drive-qsg-dz/download-run-sdkm/index.html#download-devzone https://developer.nvidia.com/docs/drive/drive-os/6.0.5/public/drive-os-installation/index.html
The plugin can not be built independently, because several nvidia driveworks SDK libraries are required as the prerequisite while compiling.
The current methods is to build the lidar plugin when building the drivework sample. The drivework sample can be found at
- /usr/local/driveworks/samples/
-
Make sure the sample can be built in your computer primarily
-
Create a soft link to this plugin folder
sudo ln -s /path/to/where/download/HesaiLidar_DriveWorks_Plugin plugin_lidar_hesai
- Add the modular cmake command to the upper CMakeLists.txt, namely the following sentence
add_subdirectory(plugin_lidar_hesai)
The program can be developed and tested on the PC, and then run on the autonomous driving hardware NVIDIA DRIVE Orin through cross compiling.
- Create build folder
cd /usr/local/driveworks/samples/
mkdir build-x86
cd build-x86
- Configure and make
cmake ../
make -j
- Find the customized hesai library
cd /usr/local/driveworks/samples/build-x86/src/sensors/lidar/plugin_lidar_hesai
ls
NVIDIA DRIVE Orin is based on the architecture of Linux Aarch64.
- Create build folder
cd /usr/local/driveworks/samples/
mkdir build-linux-aarch64
cd build-linux-aarch64
- Configure and make
sudo cmake -DCMAKE_TOOLCHAIN_FILE=/usr/local/driveworks/samples/cmake/Toolchain-V5L.cmake -DVIBRANTE_PDK=/home/hesai/nvidia/nvidia_sdk/DRIVE_OS_6.0.5_SDK_Linux_DRIVE_AGX_ORIN_DEVKITS/DRIVEOS/drive-linux -S /usr/local/driveworks/samples
sudo make -j
- Find the customized hesai library
cd /usr/local/driveworks/samples/build-linux-aarch64/src/sensors/lidar/plugin_lidar_hesai
ls
To use the library compiled by yourself, you need to
- Modify the name of the previous so at first
cd /path/to/download/this/folder/hesai-nvidia-driveworks_plugin/lib
mv libplugin_lidar_hesai_x86.so libplugin_lidar_hesai_x86_old.so
- Create a new soft link to your so file
ln -s /usr/local/driveworks-5.8/samples/build-x86/src/sensors/lidar/plugin_lidar_hesai/libplugin_lidar_hesai.so libplugin_lidar_hesai_x86.so
Notice that files contained in hesai-nvidia-driveworks_plugin/lib should not be update by developer outside hesai.
Follow the instruction in the folder of hesai-nvidia-driveworks_plugin
AT128 is an auto-grade hybrid solid-state lidar that has a ranging capability of 200 meters at 10% reflectivity, with effective ground detection range as far as 70 meters.
Pandar128 is a high-performance 360-degree lidar featuring image-like resolution and long range.
QT128 is an automotive-grade, short-range lidar, providing accurate visibility information to enhance object recognition.
For support of the Hesai Lidar Plugin for Nvidia Drivework, please use Github Issues in this repo.
For support of Hesai products outside of the SDK, please use Hesai customer support.
The Apache License, version 2.0. [https://www.apache.org/licenses/LICENSE-2.0]
