feat(hesai): implement mask-based pruning filter for Hesai (#251)

commit 6e47dbb Author: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Date: Mon Feb 17 05:47:57 2025 +0000 ci(pre-commit): autofix commit 2931084 Author: Max SCHMELLER <[email protected]> Date: Thu Jan 16 12:32:01 2025 +0900 docs(point_filters): add compatibility table for hesai Signed-off-by: Max SCHMELLER <[email protected]> commit 07ee5bf Author: Max SCHMELLER <[email protected]> Date: Thu Jan 16 12:31:24 2025 +0900 feat(hesai): add downsample mask filter to decoder Signed-off-by: Max SCHMELLER <[email protected]> commit 3349bdd Author: Max SCHMELLER <[email protected]> Date: Thu Jan 16 12:29:59 2025 +0900 chore(hesai): add FoV and resolution information to sensor definitions Signed-off-by: Max SCHMELLER <[email protected]> commit ed23f8c Author: Max SCHMELLER <[email protected]> Date: Thu Jan 16 12:29:17 2025 +0900 chore(hesai): add optional point_filters parameter to schema Signed-off-by: Max SCHMELLER <[email protected]> commit 5400657 Author: Max SCHMELLER <[email protected]> Date: Thu Jan 16 12:28:56 2025 +0900 chore(hesai): add downsample_mask_path config parameter Signed-off-by: Max SCHMELLER <[email protected]> commit 20a5c44 Author: Max SCHMELLER <[email protected]> Date: Thu Jan 16 12:27:07 2025 +0900 chore(nebula_ros): modernize how file extensions are replaced for calibration files Signed-off-by: Max SCHMELLER <[email protected]> commit 4cdc44a Author: Max SCHMELLER <[email protected]> Date: Thu Jan 16 12:18:47 2025 +0900 chore(hesai_decoders): remove rclcpp logging dependency Signed-off-by: Max SCHMELLER <[email protected]> commit cec2c76 Author: Max SCHMELLER <[email protected]> Date: Mon Feb 17 14:32:42 2025 +0900 chore(angles): introduce `AngleUnit`s, make angle ranges support `end < start`angle. Signed-off-by: Max SCHMELLER <[email protected]> commit a85ea4b Author: Max SCHMELLER <[email protected]> Date: Mon Feb 17 14:31:47 2025 +0900 chore(downsample_mask): fix imports Signed-off-by: Max SCHMELLER <[email protected]> commit e18ae38 Author: Max SCHMELLER <[email protected]> Date: Fri Feb 14 16:46:05 2025 +0900 fix(downsample_mask): add input validation for constructor parameters Add input validation checks for azimuth peak resolution, azimuth range extent, and number of channels to prevent divide-by-zeros and other issues Signed-off-by: Max SCHMELLER <[email protected]> commit 3082e0d Author: Max SCHMELLER <[email protected]> Date: Thu Jan 16 15:51:49 2025 +0900 fix(downsample_mask): make `excluded()` function resilient to rounding errors Signed-off-by: Max SCHMELLER <[email protected]> commit 5655e32 Author: Max SCHMELLER <[email protected]> Date: Thu Jan 16 15:26:46 2025 +0900 chore(downsample_mask): explicitly cast instead of implicit conversions Signed-off-by: Max SCHMELLER <[email protected]> commit 1cadf2a Author: Max SCHMELLER <[email protected]> Date: Thu Jan 16 15:06:10 2025 +0900 chore(downsample_mask): remove `.` before the exported mask's suffix Signed-off-by: Max SCHMELLER <[email protected]> commit 8e52dd9 Author: Max SCHMELLER <[email protected]> Date: Thu Jan 16 15:01:56 2025 +0900 chore(cspell): add milli-degrees (`mdeg`) to dictionary Signed-off-by: Max SCHMELLER <[email protected]> commit fb6045f Author: Max SCHMELLER <[email protected]> Date: Thu Jan 16 12:15:26 2025 +0900 docs(downsample_filter): add downsample filter docs Signed-off-by: Max SCHMELLER <[email protected]> commit a14a069 Author: Max SCHMELLER <[email protected]> Date: Thu Jan 16 12:10:34 2025 +0900 test(downsample_mask): add unit tests for dithering and filtering Signed-off-by: Max SCHMELLER <[email protected]> commit e2aed9b Author: Max SCHMELLER <[email protected]> Date: Thu Jan 16 12:08:57 2025 +0900 chore(downsample_mask): make debug mask output optional, clean up code Signed-off-by: Max SCHMELLER <[email protected]> commit 72aafb3 Author: Max SCHMELLER <[email protected]> Date: Wed Jan 15 16:09:32 2025 +0900 chore(downsample_mask): add dependencies to nebula_decoders/package.xml Signed-off-by: Max SCHMELLER <[email protected]> commit 3c474d7 Author: Max SCHMELLER <[email protected]> Date: Wed Jan 15 16:04:19 2025 +0900 chore(nebula_ros): add schema for point filters, and the downsample mask Signed-off-by: Max SCHMELLER <[email protected]> commit 219b789 Author: Max SCHMELLER <[email protected]> Date: Wed Jan 15 16:03:45 2025 +0900 chore(downsample_mask): add downsample_mask filter class The filter takes a path to a PNG image (will be converted to grayscale) and expected resolution/channel count of the mask. The grayscale mask is then dithered into a black/white mask of the same dimensions, and an `excluded(NebulaPoint const&)` function is provided to test whether a point shall be excluded according to the mask. For debug purposes, the dithered mask is written to the same directory as the input mask, with the file ending changed to `_dithered.png`. If this fails, the filter will not throw but log a warning. Signed-off-by: Max SCHMELLER <[email protected]> commit 65ed6ed Author: Max SCHMELLER <[email protected]> Date: Wed Jan 15 16:03:37 2025 +0900 chore(nebula_decoders): add utility types for angle pairs, ranges, and FoVs Signed-off-by: Max SCHMELLER <[email protected]> Signed-off-by: Max SCHMELLER <[email protected]>
tier4 · Feb 18, 2025 · 74ec71a · 74ec71a
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diff --git a/docs/filters.md b/docs/filters.md
@@ -34,7 +34,7 @@ The following filter types are supported:
 
 | Filter Name            | Filter Type       | Hesai | Robosense | Velodyne |
 | ---------------------- | ----------------- | :---: | :-------: | :------: |
-| Downsample Mask Filter | `downsample_mask` |  ❌   |    ❌     |    ❌    |
+| Downsample Mask Filter | `downsample_mask` |  ✅   |    ❌     |    ❌    |
 
 Compatibility:  
 ✅: compatible  

diff --git a/nebula_common/include/nebula_common/hesai/hesai_common.hpp b/nebula_common/include/nebula_common/hesai/hesai_common.hpp
@@ -50,6 +50,7 @@ struct HesaiSensorConfiguration : public LidarConfigurationBase
   PtpTransportType ptp_transport_type;
   PtpSwitchType ptp_switch_type;
   uint8_t ptp_lock_threshold;
+  std::string downsample_mask_path;
 };
 /// @brief Convert HesaiSensorConfiguration to string (Overloading the << operator)
 /// @param os
@@ -73,7 +74,8 @@ inline std::ostream & operator<<(std::ostream & os, HesaiSensorConfiguration con
   os << "PTP Domain: " << std::to_string(arg.ptp_domain) << '\n';
   os << "PTP Transport Type: " << arg.ptp_transport_type << '\n';
   os << "PTP Switch Type: " << arg.ptp_switch_type << '\n';
-  os << "PTP Lock Threshold: " << std::to_string(arg.ptp_lock_threshold);
+  os << "PTP Lock Threshold: " << std::to_string(arg.ptp_lock_threshold) << '\n';
+  os << "Downsample Mask Path: " << arg.downsample_mask_path;
   return os;
 }
 

diff --git a/nebula_decoders/CMakeLists.txt b/nebula_decoders/CMakeLists.txt
@@ -53,10 +53,12 @@ add_library(nebula_decoders_hesai SHARED
 )
 target_link_libraries(nebula_decoders_hesai PUBLIC
     ${pandar_msgs_TARGETS}
+    ${PNG_LIBRARIES}
 )
 
 target_include_directories(nebula_decoders_hesai PUBLIC
     ${pandar_msgs_INCLUDE_DIRS}
+    ${PNG_INCLUDE_DIRS}
 )
 
 # Velodyne

diff --git a/nebula_decoders/include/nebula_decoders/nebula_decoders_hesai/decoders/hesai_decoder.hpp b/nebula_decoders/include/nebula_decoders/nebula_decoders_hesai/decoders/hesai_decoder.hpp
@@ -15,11 +15,13 @@
 #pragma once
 
 #include "nebula_decoders/nebula_decoders_common/angles.hpp"
+#include "nebula_decoders/nebula_decoders_common/point_filters/downsample_mask.hpp"
 #include "nebula_decoders/nebula_decoders_hesai/decoders/angle_corrector.hpp"
 #include "nebula_decoders/nebula_decoders_hesai/decoders/hesai_packet.hpp"
 #include "nebula_decoders/nebula_decoders_hesai/decoders/hesai_scan_decoder.hpp"
 
 #include <nebula_common/hesai/hesai_common.hpp>
+#include <nebula_common/loggers/logger.hpp>
 #include <nebula_common/nebula_common.hpp>
 #include <nebula_common/point_types.hpp>
 #include <rclcpp/logging.hpp>
@@ -28,7 +30,9 @@
 #include <algorithm>
 #include <array>
 #include <cmath>
+#include <cstdint>
 #include <memory>
+#include <optional>
 #include <tuple>
 #include <utility>
 #include <vector>
@@ -46,7 +50,7 @@ class HesaiDecoder : public HesaiScanDecoder
     float scan_emit_angle;
   };
 
-protected:
+private:
   /// @brief Configuration for this decoder
   const std::shared_ptr<const drivers::HesaiSensorConfiguration> sensor_configuration_;
 
@@ -74,7 +78,7 @@ class HesaiDecoder : public HesaiScanDecoder
   ScanCutAngles scan_cut_angles_;
   uint32_t last_azimuth_ = 0;
 
-  rclcpp::Logger logger_;
+  std::shared_ptr<loggers::Logger> logger_;
 
   /// @brief For each channel, its firing offset relative to the block in nanoseconds
   std::array<int, SensorT::packet_t::n_channels> channel_firing_offset_ns_;
@@ -83,15 +87,17 @@ class HesaiDecoder : public HesaiScanDecoder
   std::array<std::array<int, SensorT::packet_t::n_blocks>, SensorT::packet_t::max_returns>
     block_firing_offset_ns_;
 
+  std::optional<point_filters::DownsampleMaskFilter> mask_filter_;
+
   /// @brief Validates and parse PandarPacket. Currently only checks size, not checksums etc.
   /// @param packet The incoming PandarPacket
   /// @return Whether the packet was parsed successfully
   bool parse_packet(const std::vector<uint8_t> & packet)
   {
     if (packet.size() < sizeof(typename SensorT::packet_t)) {
-      RCLCPP_ERROR_STREAM(
-        logger_, "Packet size mismatch: " << packet.size() << " | Expected at least: "
-                                          << sizeof(typename SensorT::packet_t));
+      NEBULA_LOG_STREAM(
+        logger_->error, "Packet size mismatch: " << packet.size() << " | Expected at least: "
+                                                 << sizeof(typename SensorT::packet_t));
       return false;
     }
     if (std::memcpy(&packet_, packet.data(), sizeof(typename SensorT::packet_t))) {
@@ -100,7 +106,7 @@ class HesaiDecoder : public HesaiScanDecoder
       return true;
     }
 
-    RCLCPP_ERROR(logger_, "Packet memcopy failed");
+    logger_->error("Packet memcopy failed");
     return false;
   }
 
@@ -195,7 +201,7 @@ class HesaiDecoder : public HesaiScanDecoder
         uint64_t scan_timestamp_ns =
           in_current_scan ? decode_scan_timestamp_ns_ : output_scan_timestamp_ns_;
 
-        NebulaPoint & point = pc->emplace_back();
+        NebulaPoint point;
         point.distance = distance;
         point.intensity = unit.reflectivity;
         point.time_stamp = get_point_time_relative(
@@ -214,6 +220,10 @@ class HesaiDecoder : public HesaiScanDecoder
         // The driver wrapper converts to degrees, expects radians
         point.azimuth = corrected_angle_data.azimuth_rad;
         point.elevation = corrected_angle_data.elevation_rad;
+
+        if (!mask_filter_ || !mask_filter_->excluded(point)) {
+          pc->emplace_back(point);
+        }
       }
     }
   }
@@ -246,24 +256,29 @@ class HesaiDecoder : public HesaiScanDecoder
   explicit HesaiDecoder(
     const std::shared_ptr<const HesaiSensorConfiguration> & sensor_configuration,
     const std::shared_ptr<const typename SensorT::angle_corrector_t::correction_data_t> &
-      correction_data)
+      correction_data,
+    const std::shared_ptr<loggers::Logger> & logger)
   : sensor_configuration_(sensor_configuration),
     angle_corrector_(
       correction_data, sensor_configuration_->cloud_min_angle,
       sensor_configuration_->cloud_max_angle, sensor_configuration_->cut_angle),
-    logger_(rclcpp::get_logger("HesaiDecoder"))
+    scan_cut_angles_(
+      {deg2rad(sensor_configuration_->cloud_min_angle),
+       deg2rad(sensor_configuration_->cloud_max_angle), deg2rad(sensor_configuration_->cut_angle)}),
+    logger_(logger)
   {
-    logger_.set_level(rclcpp::Logger::Level::Debug);
-
     decode_pc_ = std::make_shared<NebulaPointCloud>();
     output_pc_ = std::make_shared<NebulaPointCloud>();
 
+    if (!sensor_configuration->downsample_mask_path.empty()) {
+      mask_filter_ = point_filters::DownsampleMaskFilter(
+        sensor_configuration->downsample_mask_path, SensorT::fov_mdeg.azimuth,
+        SensorT::peak_resolution_mdeg.azimuth, SensorT::packet_t::n_channels,
+        logger_->child("Downsample Mask"), true);
+    }
+
     decode_pc_->reserve(SensorT::max_scan_buffer_points);
     output_pc_->reserve(SensorT::max_scan_buffer_points);
-
-    scan_cut_angles_ = {
-      deg2rad(sensor_configuration_->cloud_min_angle),
-      deg2rad(sensor_configuration_->cloud_max_angle), deg2rad(sensor_configuration_->cut_angle)};
   }
 
   int unpack(const std::vector<uint8_t> & packet) override

diff --git a/nebula_decoders/include/nebula_decoders/nebula_decoders_hesai/decoders/pandar_128e3x.hpp b/nebula_decoders/include/nebula_decoders/nebula_decoders_hesai/decoders/pandar_128e3x.hpp
@@ -220,6 +220,8 @@ class Pandar128E3X : public HesaiSensor<hesai_packet::Packet128E3X>
   static constexpr float min_range = 0.1;
   static constexpr float max_range = 230.0;
   static constexpr size_t max_scan_buffer_points = 691200;
+  static constexpr FieldOfView<int32_t, MilliDegrees> fov_mdeg{{0, 360'000}, {-25'000, 14'400}};
+  static constexpr AnglePair<int32_t, MilliDegrees> peak_resolution_mdeg{100, 125};
 
   int get_packet_relative_point_time_offset(
     uint32_t block_id, uint32_t channel_id, const packet_t & packet) override

diff --git a/nebula_decoders/include/nebula_decoders/nebula_decoders_hesai/decoders/pandar_128e4x.hpp b/nebula_decoders/include/nebula_decoders/nebula_decoders_hesai/decoders/pandar_128e4x.hpp
@@ -83,6 +83,8 @@ class Pandar128E4X : public HesaiSensor<hesai_packet::Packet128E4X>
   static constexpr float min_range = 0.1;
   static constexpr float max_range = 230.0;
   static constexpr size_t max_scan_buffer_points = 691200;
+  static constexpr FieldOfView<int32_t, MilliDegrees> fov_mdeg{{0, 360'000}, {-24'800, 14'400}};
+  static constexpr AnglePair<int32_t, MilliDegrees> peak_resolution_mdeg{100, 125};
 
   int get_packet_relative_point_time_offset(
     uint32_t block_id, uint32_t channel_id, const packet_t & packet) override

diff --git a/nebula_decoders/include/nebula_decoders/nebula_decoders_hesai/decoders/pandar_40.hpp b/nebula_decoders/include/nebula_decoders/nebula_decoders_hesai/decoders/pandar_40.hpp
@@ -14,6 +14,7 @@
 
 #pragma once
 
+#include "nebula_decoders/nebula_decoders_common/angles.hpp"
 #include "nebula_decoders/nebula_decoders_hesai/decoders/hesai_packet.hpp"
 #include "nebula_decoders/nebula_decoders_hesai/decoders/hesai_sensor.hpp"
 
@@ -74,6 +75,8 @@ class Pandar40 : public HesaiSensor<hesai_packet::Packet40P>
   static constexpr float min_range = 0.3f;
   static constexpr float max_range = 200.f;
   static constexpr size_t max_scan_buffer_points = 144000;
+  static constexpr FieldOfView<int32_t, MilliDegrees> fov_mdeg{{0, 360'000}, {-25'000, 15'000}};
+  static constexpr AnglePair<int32_t, MilliDegrees> peak_resolution_mdeg{200, 334};
 
   int get_packet_relative_point_time_offset(
     uint32_t block_id, uint32_t channel_id, const packet_t & packet) override

diff --git a/nebula_decoders/include/nebula_decoders/nebula_decoders_hesai/decoders/pandar_64.hpp b/nebula_decoders/include/nebula_decoders/nebula_decoders_hesai/decoders/pandar_64.hpp
@@ -54,6 +54,8 @@ class Pandar64 : public HesaiSensor<hesai_packet::Packet64>
   static constexpr float min_range = 0.3f;
   static constexpr float max_range = 200.f;
   static constexpr size_t max_scan_buffer_points = 230400;
+  static constexpr FieldOfView<int32_t, MilliDegrees> fov_mdeg{{0, 360'000}, {-25'000, 15'000}};
+  static constexpr AnglePair<int32_t, MilliDegrees> peak_resolution_mdeg{200, 167};
 
   int get_packet_relative_point_time_offset(
     uint32_t block_id, uint32_t channel_id, const packet_t & packet) override

diff --git a/nebula_decoders/include/nebula_decoders/nebula_decoders_hesai/decoders/pandar_at128.hpp b/nebula_decoders/include/nebula_decoders/nebula_decoders_hesai/decoders/pandar_at128.hpp
@@ -80,6 +80,9 @@ class PandarAT128
   static constexpr float min_range = 1.f;
   static constexpr float max_range = 180.0f;
   static constexpr size_t max_scan_buffer_points = 307200;
+  static constexpr FieldOfView<int32_t, MilliDegrees> fov_mdeg{
+    {30'000, 150'000}, {-12'500, 12'900}};
+  static constexpr AnglePair<int32_t, MilliDegrees> peak_resolution_mdeg{100, 200};
 
   int get_packet_relative_point_time_offset(
     uint32_t block_id, uint32_t channel_id, const packet_t & packet) override

diff --git a/nebula_decoders/include/nebula_decoders/nebula_decoders_hesai/decoders/pandar_qt128.hpp b/nebula_decoders/include/nebula_decoders/nebula_decoders_hesai/decoders/pandar_qt128.hpp
@@ -93,6 +93,8 @@ class PandarQT128 : public HesaiSensor<hesai_packet::PacketQT128C2X>
   static constexpr float min_range = 0.05;
   static constexpr float max_range = 50.0;
   static constexpr size_t max_scan_buffer_points = 172800;
+  static constexpr FieldOfView<int32_t, MilliDegrees> fov_mdeg{{0, 360'000}, {-52'630, 52'630}};
+  static constexpr AnglePair<int32_t, MilliDegrees> peak_resolution_mdeg{400, 100};
 
   int get_packet_relative_point_time_offset(
     uint32_t block_id, uint32_t channel_id, const packet_t & packet) override

diff --git a/nebula_decoders/include/nebula_decoders/nebula_decoders_hesai/decoders/pandar_qt64.hpp b/nebula_decoders/include/nebula_decoders/nebula_decoders_hesai/decoders/pandar_qt64.hpp
@@ -63,6 +63,8 @@ class PandarQT64 : public HesaiSensor<hesai_packet::PacketQT64>
   static constexpr float min_range = 0.1f;
   static constexpr float max_range = 60.f;
   static constexpr size_t max_scan_buffer_points = 76800;
+  static constexpr FieldOfView<int32_t, MilliDegrees> fov_mdeg{{0, 360'000}, {-52'100, 52'100}};
+  static constexpr AnglePair<int32_t, MilliDegrees> peak_resolution_mdeg{600, 1'450};
 
   int get_packet_relative_point_time_offset(
     uint32_t block_id, uint32_t channel_id, const packet_t & packet) override

diff --git a/nebula_decoders/include/nebula_decoders/nebula_decoders_hesai/decoders/pandar_xt16.hpp b/nebula_decoders/include/nebula_decoders/nebula_decoders_hesai/decoders/pandar_xt16.hpp
@@ -49,6 +49,8 @@ class PandarXT16 : public HesaiSensor<hesai_packet::PacketXT16>
   static constexpr float min_range = 0.05f;
   static constexpr float max_range = 120.0f;
   static constexpr size_t max_scan_buffer_points = 128000;
+  static constexpr FieldOfView<int32_t, MilliDegrees> fov_mdeg{{0, 360'000}, {-15'000, 15'000}};
+  static constexpr AnglePair<int32_t, MilliDegrees> peak_resolution_mdeg{180, 1'000};
 
   int get_packet_relative_point_time_offset(
     uint32_t block_id, uint32_t channel_id, const packet_t & packet) override

diff --git a/nebula_decoders/include/nebula_decoders/nebula_decoders_hesai/decoders/pandar_xt32.hpp b/nebula_decoders/include/nebula_decoders/nebula_decoders_hesai/decoders/pandar_xt32.hpp
@@ -56,6 +56,8 @@ class PandarXT32 : public HesaiSensor<hesai_packet::PacketXT32>
   static constexpr float min_range = 0.05f;
   static constexpr float max_range = 120.0f;
   static constexpr size_t max_scan_buffer_points = 256000;
+  static constexpr FieldOfView<int32_t, MilliDegrees> fov_mdeg{{0, 360'000}, {-16'000, 15'000}};
+  static constexpr AnglePair<int32_t, MilliDegrees> peak_resolution_mdeg{180, 1'000};
 
   int get_packet_relative_point_time_offset(
     uint32_t block_id, uint32_t channel_id, const packet_t & packet) override

diff --git a/nebula_decoders/include/nebula_decoders/nebula_decoders_hesai/decoders/pandar_xt32m.hpp b/nebula_decoders/include/nebula_decoders/nebula_decoders_hesai/decoders/pandar_xt32m.hpp
@@ -46,6 +46,8 @@ class PandarXT32M : public HesaiSensor<hesai_packet::PacketXT32M2X>
   static constexpr float min_range = 0.5f;
   static constexpr float max_range = 300.0f;
   static constexpr size_t max_scan_buffer_points = 384000;
+  static constexpr FieldOfView<int32_t, MilliDegrees> fov_mdeg{{0, 360'000}, {-20'800, 19'500}};
+  static constexpr AnglePair<int32_t, MilliDegrees> peak_resolution_mdeg{180, 1'300};
 
   int get_packet_relative_point_time_offset(
     uint32_t block_id, uint32_t channel_id, const packet_t & packet) override

diff --git a/nebula_decoders/include/nebula_decoders/nebula_decoders_hesai/hesai_driver.hpp b/nebula_decoders/include/nebula_decoders/nebula_decoders_hesai/hesai_driver.hpp
@@ -20,6 +20,8 @@
 #include "nebula_common/point_types.hpp"
 #include "nebula_decoders/nebula_decoders_hesai/decoders/hesai_scan_decoder.hpp"
 
+#include <nebula_common/loggers/logger.hpp>
+
 #include <pcl_conversions/pcl_conversions.h>
 
 #include <memory>
@@ -34,6 +36,7 @@ class HesaiDriver
 private:
   /// @brief Current driver status
   Status driver_status_;
+  std::shared_ptr<loggers::Logger> logger_;
   /// @brief Decoder according to the model
   std::shared_ptr<HesaiScanDecoder> scan_decoder_;
 
@@ -52,7 +55,8 @@ class HesaiDriver
   explicit HesaiDriver(
     const std::shared_ptr<const drivers::HesaiSensorConfiguration> & sensor_configuration,
     const std::shared_ptr<const drivers::HesaiCalibrationConfigurationBase> &
-      calibration_configuration);
+      calibration_configuration,
+    const std::shared_ptr<loggers::Logger> & logger);
 
   /// @brief Get current status of this driver
   /// @return Current status

diff --git a/nebula_decoders/src/nebula_decoders_hesai/hesai_driver.cpp b/nebula_decoders/src/nebula_decoders_hesai/hesai_driver.cpp
@@ -18,13 +18,13 @@
 #include <tuple>
 #include <vector>
 
-// #define WITH_DEBUG_STD_COUT_HESAI_CLIENT // Use std::cout messages for debugging
-
 namespace nebula::drivers
 {
 HesaiDriver::HesaiDriver(
   const std::shared_ptr<const HesaiSensorConfiguration> & sensor_configuration,
-  const std::shared_ptr<const HesaiCalibrationConfigurationBase> & calibration_data)
+  const std::shared_ptr<const HesaiCalibrationConfigurationBase> & calibration_data,
+  const std::shared_ptr<loggers::Logger> & logger)
+: logger_(logger)
 {
   // initialize proper parser from cloud config's model and echo mode
   driver_status_ = nebula::Status::OK;
@@ -78,17 +78,17 @@ std::shared_ptr<HesaiScanDecoder> HesaiDriver::initialize_decoder(
 {
   using CalibT = typename SensorT::angle_corrector_t::correction_data_t;
   return std::make_shared<HesaiDecoder<SensorT>>(
-    sensor_configuration, std::dynamic_pointer_cast<const CalibT>(calibration_configuration));
+    sensor_configuration, std::dynamic_pointer_cast<const CalibT>(calibration_configuration),
+    logger_->child("Decoder"));
 }
 
 std::tuple<drivers::NebulaPointCloudPtr, double> HesaiDriver::parse_cloud_packet(
   const std::vector<uint8_t> & packet)
 {
   std::tuple<drivers::NebulaPointCloudPtr, double> pointcloud;
-  auto logger = rclcpp::get_logger("HesaiDriver");
 
   if (driver_status_ != nebula::Status::OK) {
-    RCLCPP_ERROR(logger, "Driver not OK.");
+    logger_->error("Driver not OK.");
     return pointcloud;
   }
 
@@ -97,13 +97,6 @@ std::tuple<drivers::NebulaPointCloudPtr, double> HesaiDriver::parse_cloud_packet
     pointcloud = scan_decoder_->get_pointcloud();
   }
 
-  // todo
-  // if (cnt == 0) {
-  //   RCLCPP_ERROR_STREAM(
-  //     logger, "Scanned " << pandar_scan->packets.size() << " packets, but no "
-  //                        << "pointclouds were generated. Last azimuth: " << last_azimuth);
-  // }
-
   return pointcloud;
 }
 

diff --git a/nebula_examples/CMakeLists.txt b/nebula_examples/CMakeLists.txt
@@ -31,6 +31,7 @@ include_directories(
 
 link_libraries(
     ${nebula_common_TARGETS}
+    ${nebula_ros_TARGETS}
     ${rosbag2_cpp_TARGETS}
     ${PCL_LIBRARIES}
 )

diff --git a/nebula_examples/src/hesai/hesai_ros_offline_extract_bag_pcd.cpp b/nebula_examples/src/hesai/hesai_ros_offline_extract_bag_pcd.cpp
@@ -14,15 +14,15 @@
 
 #include "hesai/hesai_ros_offline_extract_bag_pcd.hpp"
 
-#include "rclcpp/serialization.hpp"
-#include "rclcpp/serialized_message.hpp"
-#include "rcpputils/filesystem_helper.hpp"
-#include "rosbag2_cpp/reader.hpp"
-#include "rosbag2_cpp/readers/sequential_reader.hpp"
-#include "rosbag2_cpp/writers/sequential_writer.hpp"
-#include "rosbag2_storage/storage_options.hpp"
-
 #include <nebula_common/hesai/hesai_common.hpp>
+#include <nebula_ros/common/rclcpp_logger.hpp>
+#include <rclcpp/serialization.hpp>
+#include <rclcpp/serialized_message.hpp>
+#include <rcpputils/filesystem_helper.hpp>
+#include <rosbag2_cpp/reader.hpp>
+#include <rosbag2_cpp/readers/sequential_reader.hpp>
+#include <rosbag2_cpp/writers/sequential_writer.hpp>
+#include <rosbag2_storage/storage_options.hpp>
 
 #include <pcl_conversions/pcl_conversions.h>
 
@@ -76,7 +76,7 @@ Status HesaiRosOfflineExtractBag::initialize_driver(
 {
   driver_ptr_ = std::make_shared<drivers::HesaiDriver>(
     std::static_pointer_cast<drivers::HesaiSensorConfiguration>(sensor_configuration),
-    calibration_configuration);
+    calibration_configuration, std::make_shared<drivers::loggers::RclcppLogger>(get_logger()));
   return driver_ptr_->get_status();
 }