ROS2 Galactic Compatibility

CMakeLists.txt

@@ -1,10 +1,16 @@
 cmake_minimum_required(VERSION 3.5)
 project(hesai_lidar)
 
-# Default to C++14
+# Default to C++17
 if(NOT CMAKE_CXX_STANDARD)
-  set(CMAKE_CXX_STANDARD 14)
+  set(CMAKE_CXX_STANDARD 17)
 endif()
+
+if(NOT WIN32)
+  set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++17 -fPIC")
+endif()
+set( CMAKE_C_FLAGS  "${CMAKE_C_FLAGS} -Wall -O3 -fPIC" )
+
 if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
   add_compile_options(-Wall -Wextra -Wpedantic)
 endif()
@@ -14,6 +20,9 @@ find_package(Boost REQUIRED COMPONENTS system)
 find_package(ament_cmake REQUIRED)
 find_package(ament_index_cpp REQUIRED)
 find_package(rclcpp REQUIRED)
+find_package(pcl_conversions REQUIRED)
+find_package(tf2_geometry_msgs REQUIRED)
+find_package(tf2_ros REQUIRED)
 find_package(rclcpp_action REQUIRED)
 find_package(rosidl_typesupport_c REQUIRED) 
 find_package(rosidl_default_generators REQUIRED)
@@ -99,14 +108,19 @@ ament_target_dependencies(hesai_lidar_node
   "sensor_msgs"
   "std_msgs"
   "tf2_geometry_msgs"
+  "tf2_ros"
 )
 
 target_include_directories(hesai_lidar_node PRIVATE
     src/HesaiLidar_General_SDK/include
     src/HesaiLidar_General_SDK/src/PandarGeneralRaw/include
     ${PCL_INCLUDE_DIRS}
     ${Boost_INCLUDE_DIRS}
-)
+    $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
+    $<INSTALL_INTERFACE:include>
+  )
+
+
 
 target_link_libraries(hesai_lidar_node 
     ${PCL_IO_LIBRARIES}
@@ -115,10 +129,19 @@ target_link_libraries(hesai_lidar_node
 )
 
 rosidl_target_interfaces(hesai_lidar_node  ${PROJECT_NAME} "rosidl_typesupport_cpp")
+
+install(TARGETS PandarGeneralSDK
+    LIBRARY DESTINATION ${CMAKE_INSTALL_LIBDIR}
+    PUBLIC_HEADER DESTINATION ${CMAKE_INSTALL_INCLUDEDIR})
+
 install(TARGETS hesai_lidar_node
   DESTINATION lib/${PROJECT_NAME})
-
+  
 install(DIRECTORY launch
   DESTINATION share/${PROJECT_NAME})
 
-ament_package()
+  install(DIRECTORY config
+  DESTINATION share/${PROJECT_NAME})
+
+ament_export_include_directories(include)
+ament_package()

README.md

@@ -12,31 +12,68 @@ Developed based on [HesaiLidar_General_SDK](https://github.com/HesaiTechnology/H
 ## Environment and Dependencies
 **System environment requirement: Linux + ROS2**  
 
-　Recommanded:  
-　Ubuntu - with ROS2 dashing desktop-full installed or  
-  Check resources on http://ros.org for installation guide 
-
-**Library Dependencies: libpcap-dev + libpcl-dev + libboost-dev**  
+　Recommended:  
+　Ubuntu - with ROS2 galactic desktop-full installed or  
+  use the `rosdep` tool and ROS2 galactic base to install all the dependencies
+
+### Install ROS2 dependencies
+
+#### Install and configure rosdep
+
+```.bash 
+# install rosdep ROS2 Galactic
+sudo apt-get install python3-rosdep
+```
+or on non ubuntu platforms
+
+```.bash 
+# install rosdep ROS2 Galactic
+sudo pip3 install -U rosdep  
+```
+
+**Configure:**
+```.bash
+sudo rosdep init
+rosdep update
+```
+
+**Install ROS dependencies:**
+```.bash
+# Go to the top of your workspace
+rosdep install --from-paths src/HesaiLidar_General_ROS --ignore-src -r -y
 ```
-$sudo apt install libpcl-dev libpcap-dev  libboost-dev
+
+**Library Dependencies: libpcap-dev + libpcl-dev + libboost-dev**  
+```.bash
+sudo apt install libpcl-dev libpcap-dev  libboost-dev
 ```
 
+
 ## Download and Build
 
 **Download code**  
 ```
-$ mkdir -p rosworkspace/src
-$ cd rosworkspace/src
-$ git clone https://github.com/HesaiTechnology/HesaiLidar_General_ROS.git --recursive
+mkdir -p rosworkspace/src
+cd rosworkspace/src
+git clone --branch ros2-galactic https://github.com/HesaiTechnology/HesaiLidar_General_ROS.git --recursive
 ```
 **Build**
 ```
 $ cd ..
-$ source /opt/ros/dashing/setup.bash
+$ source /opt/ros/galactic/setup.bash
 $ colcon build --symlink-install
 ```
 
 ## Configuration 
+
+Use a defined IP address and port to connect to the Lidar.
+
+```.bash
+sudo ifconfig eno2 192.168.1.100 # (replace eno2 with the local Ethernet port name)
+```
+or simply use the default IP address and port defined by your system. But change the `server_ip` parameter in the `hesai_lidar_launch.py` file.
+
+
 ```
  $ gedit install/hesai_lidar/share/hesai_lidar/launch/hesai_lidar_launch.py
 ```

launch/hesai_lidar_launch.py

@@ -1,32 +1,33 @@
 from launch import LaunchDescription
 import launch_ros.actions
+from os import path
 
 
 def generate_launch_description():
     return LaunchDescription([
         launch_ros.actions.Node(
             package ='hesai_lidar',
-            node_namespace ='hesai',
-            node_executable ='hesai_lidar_node',
+            namespace ='hesai',
+            executable ='hesai_lidar_node',
             name ='hesai_node',
             output ="screen",
             parameters=[
-                {"pcap_file": "''"},
-                {"server_ip"  : "192.168.1.201"},
+                {"pcap_file": ""},
+                {"server_ip"  : "192.168.1.100"},
                 {"lidar_recv_port"  : 2368},
                 {"gps_port"  : 10110},
                 {"start_angle"  : 0.0},
-                {"lidar_type"  : "PandarXT-16"},
-                {"frame_id"  : "PandarXT-16"},
+                {"lidar_type"  : "PandarXT-32"},
+                {"frame_id"  : "PandarXT-32"},
                 {"pcldata_type"  : 0},
                 {"publish_type"  : "both"},
-                {"timestamp_type"  : "''"},
-                {"data_type"  : "''"},
-                {"lidar_correction_file"  : "./src/ROS/HesaiLidar_General_ROS/config/PandarXT-16.csv"},
-                {"multicast_ip"  : "''"},
+                {"timestamp_type"  : ""},
+                {"data_type"  : ""},
+                {"lidar_correction_file"  : path.dirname(path.abspath(__file__))+"/../config/PandarXT-32.csv"},
+                {"multicast_ip"  : ""},
                 {"coordinate_correction_flag"  : False},
-                {"fixed_frame"  : "''"},
-                {"target_frame_frame"  : "''"}
+                {"fixed_frame"  : ""},
+                {"target_frame_frame"  : ""}
             ]
         )
     ])

src/HesaiLidar_General_SDK/src/PandarGeneralRaw/src/pandarGeneral.cc

@@ -99,6 +99,7 @@ bool PandarGeneral::GetCorrectionFileFlag(){
   if (internal_) {
     return internal_->GetCorrectionFileFlag();
   }
+  return false;
 }
 
 void PandarGeneral::SetCorrectionFileFlag(bool flag){

src/HesaiLidar_General_SDK/src/PandarGeneralRaw/src/pandarGeneral_internal.cc

@@ -688,6 +688,7 @@ int PandarGeneral_Internal::Start() {
   } else {
     pcap_reader_->start(boost::bind(&PandarGeneral_Internal::FillPacket, this, _1, _2, _3));
   }
+  return 0;
 }
 
 void PandarGeneral_Internal::Stop() {

src/HesaiLidar_General_SDK/src/PandarGeneralRaw/src/pandarGeneral_internal.h

@@ -35,6 +35,7 @@
 #include <hesai_lidar/msg/pandar_scan.hpp>
 #include <hesai_lidar/msg/pandar_packet.hpp>
 #include <tf2_ros/transform_listener.h>
+#include <tf2_ros/buffer.h>
 // #include <geometry_msgs/TransformStamped.h>
 #include <Eigen/Dense>
 

src/HesaiLidar_General_SDK/src/pandarGeneral_sdk.cc

@@ -110,6 +110,7 @@ int PandarGeneralSDK::Start() {
   enable_get_calibration_thr_ = true;
   get_calibration_thr_ = new boost::thread(
       boost::bind(&PandarGeneralSDK::GetCalibrationFromDevice, this));
+  return 0;
 }
 
 void PandarGeneralSDK::Stop() {

src/main_ros2.cc

@@ -39,8 +39,9 @@ class HesaiLidarClient: public rclcpp::Node
     this->declare_parameter<bool>("coordinate_correction_flag", false);
     this->declare_parameter<std::string>("target_frame", "");
     this->declare_parameter<std::string>("fixed_frame", "");
-    rclcpp::QoS qos(rclcpp::KeepLast(7));
-    lidarPublisher = this->create_publisher<sensor_msgs::msg::PointCloud2>("pandar");
+    rclcpp::QoS qos(rclcpp::KeepLast(7)); 
+    auto sensor_qos = rclcpp::QoS(rclcpp::SensorDataQoS());
+    lidarPublisher = this->create_publisher<sensor_msgs::msg::PointCloud2>("pandar", sensor_qos);
     packetPublisher = this->create_publisher<hesai_lidar::msg::PandarScan>("pandar_packets", qos);
     this->timer_callback();
   }
@@ -51,7 +52,8 @@ class HesaiLidarClient: public rclcpp::Node
   void lidarCallback(boost::shared_ptr<PPointCloud> cld, double timestamp, hesai_lidar::msg::PandarScan::SharedPtr scan) // the timestamp from first point cloud of cld
   {
     if(m_sPublishType == "both" || m_sPublishType == "points"){
-      pcl_conversions::toPCL(rclcpp::Time(timestamp), cld->header.stamp);
+      rclcpp::Time now = this->now();
+      pcl_conversions::toPCL(now, cld->header.stamp);
       sensor_msgs::msg::PointCloud2 output;
       pcl::toROSMsg(*cld, output);
       lidarPublisher->publish(output);