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feat(hesai): add support for xt16 (#241)
* Added XT16 references, added XT16 packet header file, added XT16 params and correction files. TO DO: - Check nebula_tests/hesai/hesai_ros_decoder_test_main.cpp - Check hardware and launch files - Run tests Signed-off-by: jemmmel <[email protected]> * Added test pcd for xt16 Signed-off-by: jemmmel <[email protected]> * Added XT16 to docs, modified max_scan_buffer_points, changed struct to use TailXT32 * Added header for XT32 packet struct Co-authored-by: Max Schmeller <[email protected]> * Added missing vendor file Signed-off-by: jemmmel <[email protected]> * Updated json for XT16 with changes from develop Signed-off-by: jemmmel <[email protected]> --------- Signed-off-by: jemmmel <[email protected]> Co-authored-by: Max Schmeller <[email protected]>
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| Original file line number | Diff line number | Diff line change |
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| @@ -0,0 +1 @@ | ||
| {{ json_to_markdown("nebula_ros/schema/PandarXT16.schema.json") }} |
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| Channel,Elevation,Azimuth | ||
| 1,15,0 | ||
| 2,13,0 | ||
| 3,11,0 | ||
| 4,9,0 | ||
| 5,7,0 | ||
| 6,5,0 | ||
| 7,3,0 | ||
| 8,1,0 | ||
| 9,-1,0 | ||
| 10,-3,0 | ||
| 11,-5,0 | ||
| 12,-7,0 | ||
| 13,-9,0 | ||
| 14,-11,0 | ||
| 15,-13,0 | ||
| 16,-15,0 |
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nebula_decoders/include/nebula_decoders/nebula_decoders_hesai/decoders/pandar_xt16.hpp
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| // Copyright 2024 TIER IV, Inc. | ||
| // | ||
| // Licensed under the Apache License, Version 2.0 (the "License"); | ||
| // you may not use this file except in compliance with the License. | ||
| // You may obtain a copy of the License at | ||
| // | ||
| // http://www.apache.org/licenses/LICENSE-2.0 | ||
| // | ||
| // Unless required by applicable law or agreed to in writing, software | ||
| // distributed under the License is distributed on an "AS IS" BASIS, | ||
| // WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. | ||
| // See the License for the specific language governing permissions and | ||
| // limitations under the License. | ||
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| #pragma once | ||
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| #include "nebula_decoders/nebula_decoders_hesai/decoders/hesai_packet.hpp" | ||
| #include "nebula_decoders/nebula_decoders_hesai/decoders/hesai_sensor.hpp" | ||
| #include "nebula_decoders/nebula_decoders_hesai/decoders/pandar_xt32.hpp" | ||
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| #include <vector> | ||
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| namespace nebula::drivers | ||
| { | ||
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| namespace hesai_packet | ||
| { | ||
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| #pragma pack(push, 1) | ||
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| using TailXT16 = TailXT32; | ||
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| struct PacketXT16 : public PacketBase<8, 16, 2, 100> | ||
| { | ||
| using body_t = Body<Block<Unit4B, PacketXT16::n_channels>, PacketXT16::n_blocks>; | ||
| Header12B header; | ||
| body_t body; | ||
| TailXT16 tail; | ||
| uint32_t udp_sequence; | ||
| }; | ||
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| #pragma pack(pop) | ||
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| } // namespace hesai_packet | ||
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| class PandarXT16 : public HesaiSensor<hesai_packet::PacketXT16> | ||
| { | ||
| public: | ||
| static constexpr float min_range = 0.05f; | ||
| static constexpr float max_range = 120.0f; | ||
| static constexpr size_t max_scan_buffer_points = 128000; | ||
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| int get_packet_relative_point_time_offset( | ||
| uint32_t block_id, uint32_t channel_id, const packet_t & packet) override | ||
| { | ||
| auto n_returns = hesai_packet::get_n_returns(packet.tail.return_mode); | ||
| int block_offset_ns = 5632 - 50000 * ((8 - block_id - 1) / n_returns); | ||
| int channel_offset_ns = 368 + 3024 * channel_id; | ||
| return block_offset_ns + channel_offset_ns; | ||
| } | ||
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| ReturnType get_return_type( | ||
| hesai_packet::return_mode::ReturnMode return_mode, unsigned int return_idx, | ||
| const std::vector<const typename packet_t::body_t::block_t::unit_t *> & return_units) override | ||
| { | ||
| auto return_type = | ||
| HesaiSensor<packet_t>::get_return_type(return_mode, return_idx, return_units); | ||
| if (return_type == ReturnType::IDENTICAL) { | ||
| return return_type; | ||
| } | ||
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| // This sensor orders returns in the opposite order, so the return_type needs to be flipped too | ||
| if (return_mode == hesai_packet::return_mode::DUAL_FIRST_LAST) { | ||
| if (return_type == ReturnType::FIRST) | ||
| return_type = ReturnType::LAST; | ||
| else if (return_type == ReturnType::LAST) | ||
| return_type = ReturnType::FIRST; | ||
| } | ||
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| return return_type; | ||
| } | ||
| }; | ||
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| } // namespace nebula::drivers |
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| @@ -0,0 +1,29 @@ | ||
| /**: | ||
| ros__parameters: | ||
| host_ip: 255.255.255.255 | ||
| sensor_ip: 192.168.1.201 | ||
| multicast_ip: "" | ||
| data_port: 2368 | ||
| gnss_port: 10110 | ||
| packet_mtu_size: 1500 | ||
| launch_hw: true | ||
| setup_sensor: true | ||
| udp_only: false | ||
| frame_id: hesai | ||
| diag_span: 1000 | ||
| min_range: 0.05 | ||
| max_range: 120.0 | ||
| cloud_min_angle: 0 | ||
| cloud_max_angle: 360 | ||
| sync_angle: 0 | ||
| cut_angle: 0.0 | ||
| sensor_model: PandarXT16 | ||
| calibration_file: $(find-pkg-share nebula_decoders)/calibration/hesai/$(var sensor_model).csv | ||
| rotation_speed: 600 | ||
| return_mode: Dual | ||
| ptp_profile: 1588v2 | ||
| ptp_domain: 0 | ||
| ptp_transport_type: UDP | ||
| ptp_switch_type: TSN | ||
| retry_hw: true | ||
| dual_return_distance_threshold: 0.1 |
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@@ -30,6 +30,7 @@ | |
| "PandarAT128", | ||
| "PandarQT64", | ||
| "PandarQT128", | ||
| "PandarXT16", | ||
| "PandarXT32", | ||
| "PandarXT32M", | ||
| ] | ||
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