Hesai XT16 LiDAR #137
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Thank you for your interest in Nebula! Sadly, we are currently not supporting XT16 and do not currently have a model to test with.
If you specifically want to use Nebula with XT16 and are willing to create a PR along those lines, we would be very happy to work with you on this. |
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We are also using XT-16, I may look into this |
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Sorry, I have not had time to look at this lately. If I do, I will request to re-open it |
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@mojomex I was able to do some modifications on XT32 implementation and get following outputs from XT16. The following output is from the /pandar_points topic. I'm trying to visualize this in rviz but initially it was saying no actual frame map. I tried publishing static tf from map to hesai but still can't see any data on rviz. Can you please help with this? |
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Hi @imeshsps, it's super nice to hear you're working on XT16 support! The ros2 topic echo log looks good, so changing the
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Hey all, I have also had some success with the XT16 and should have something ready next week. Looks like good progress already though |
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I believe this might be related to Edit: Just found this in the docs - "max_scan_buffer_points = bytes_per_second / lowest_supported_frequency", I will fix this |
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@mojomex The issue was with the Reliability Policy setting. I was able to get the data on Rviz.
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@jemmmel @imeshsps Thanks for your guys' good work! @jemmmel For the payload size warning, it is related to parsing of TCP metadata, such as diagnostics and sensor config. Hesai has documents for that, but they're not public and I don't have any for XT16. For now, if diagnostics look all good and the printed responses from the sensor look reasonable (they do), you can go ahead and create a PR :D Please make sure to follow our contribution guidelines for a smooth process. Thank you! |
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@mojomex Ok thanks for the info! We are working independently, just good timing I guess. |
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@jemmmel Yes, please add tests. You can do something similar to the other Hesai sensors in
Also, if you could record a PCAP (with Wireshark for example) with all TCP, UDP, HTTP data (no filters), where you start Nebula and let it run for a few seconds, that would help our in-progress TCP protocol unit tests (#234) greatly! |
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Good morning @mojomex, I am trying to collect the test data but I am having trouble with the conversion script. I am using the #236 version to convert a recorded bag file of /pandar_packets. My workflow is
However in the new bag file, the type is not Am I doing something out of order? Also, where should I upload the PCAP data? |
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@jemmmel Hi, I think you don't need the rosbag output at all, only the PCD output. You could run with these parameters: cd ~/nebula
ros2 launch nebula_examples hesai_offline_bag_pcd.xml sensor_model:=PandarXT32 output_rosbag:=true forward_packets_to_rosbag:=true output_pcd:=true bag_path:=nebula_tests/data/hesai/xt32/1673400677802009732/ input_topic:=/pandar_packets output_topic:=UNUSED out_num:=3 skip_num:=1 out_path:=.That PR is still under review and the parameter handling isn't quite perfect, so all of those extra parameters are needed....
The test suite will match the filename of the PCD file(s) against packet messages in the bag and auto-decode and compare. Just add xt16 to the As for the PCAP, just any google drive/dropbox/etc. link is fine! |
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In that case I think it is ready to go, should I submit the PR? PCAP data can be found here - https://drive.google.com/file/d/1uKecBbVFgmKDmJbymWjCmcUQagybVGK4/view?usp=drive_link |
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I have started the process, please let me know if there are any issues and I will take a look! |
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@jemmmel Thanks, I left a small review! |
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Great work. I'll close this issue as the PR is now merged. Thank you for the contribution @jemmmel ! |
I want to use the XT16 in Nebula, Is there a good way to do it?
Or any update plan for use XT16 near future?
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