禾赛激光雷达调试

环境
Ubuntu 18.04
ROS　Melodic
pandarview软件安装包和ros程序

硬件
禾赛 XT32M2X 激光雷达

驱动和pandarview百度网盘下载链接
链接: https://pan.baidu.com/s/1SrauBjtu9COeMB_QbE2twQ 提取码: luib
–来自百度网盘超级会员v5的分享
建议从github上下载最新的ROS驱动包
https://github.com/HesaiTechnology/HesaiLidar_General_ROS

说明书下载链接
https://download.csdn.net/download/qq_38768959/85023927

一、配置IP

将雷达通过网线连接电脑
打开终端

ifconfig

雷达的数据量较大,如果不知道雷达的IP是哪个,可以看下每个IP的数据的接收量,一般每秒增加十几兆左右的那个就是雷达的IP,如下图中的eth0.

用以下命令配置ip

sudo ifconfig eth0 192.168.1.100

检查和雷达的通信是否成功

ping 192.168.1.201

如果成功,如下:

二、使用pandarview查看点云

下载安装包，可在网盘下载，解压后./执行下面的二进制文件即可安装

安装完成后会在home目录下生成一个PandarView_Release文件夹，如下：

在该文件夹下./执行PandarView即可启动PandarView软件，然后点击下图图标

点击OK

就可以看点云

三、使用RVIZ查看点云

安装环境

sudo apt install libpcap-dev libyaml-cpp-dev

sudo apt-get update

如果报错

W: An error occurred during the signature verification. The repository
is not updated and the previous index files will be used. GPG error:
http://packages.ros.org/ros/ubuntu bionic InRelease: The following
signatures were invalid: EXPKEYSIG F42ED6FBAB17C654 Open Robotics
info@osrfoundation.org W: Failed to fetch
http://packages.ros.org/ros/ubuntu/dists/bionic/InRelease The
following signatures were invalid: EXPKEYSIG F42ED6FBAB17C654 Open
Robotics info@osrfoundation.org W: Some index files failed to
download. They have been ignored, or old ones used instead.

执行下面两条命令:

sudo sh -c '. /etc/lsb-release && echo "deb http://mirrors.tuna.tsinghua.edu.cn/ros/ubuntu/ `lsb_release -cs` main" > /etc/apt/sources.list.d/ros-latest.list'
curl -sSL 'http://keyserver.ubuntu.com/pks/lookup?op=get&search=0xC1CF6E31E6BADE8868B172B4F42ED6FBAB17C654' | sudo apt-key add -

如果报网络下载失败的错,可以把源换成清华源
执行

cd /etc/apt

sudo cp sources.list sources.list.bak

sudo gedit sources.list

更换内容为

deb http://mirrors.tuna.tsinghua.edu.cn/ubuntu-ports/ bionic-updates main restricted universe multiverse
deb-src http://mirrors.tuna.tsinghua.edu.cn/ubuntu-ports/ bionic-updates main restricted universe multiverse
deb http://mirrors.tuna.tsinghua.edu.cn/ubuntu-ports/ bionic-security main restricted universe multiverse
deb-src http://mirrors.tuna.tsinghua.edu.cn/ubuntu-ports/ bionic-security main restricted universe multiverse
deb http://mirrors.tuna.tsinghua.edu.cn/ubuntu-ports/ bionic-backports main restricted universe multiverse
deb-src http://mirrors.tuna.tsinghua.edu.cn/ubuntu-ports/ bionic-backports main restricted universe multiverse
deb http://mirrors.tuna.tsinghua.edu.cn/ubuntu-ports/ bionic main universe restricted
deb-src http://mirrors.tuna.tsinghua.edu.cn/ubuntu-ports/ bionic main universe restricted

如果报错

E: GPG error: file:/var/visionworks-repo Release: Signed file isn’t
valid, got ‘NODATA’ (does the network require authentication?) E: GPG
error: file:/var/visionworks-sfm-repo Release: Signed file isn’t
valid, got ‘NODATA’ (does the network require authentication?) E: GPG
error: file:/var/visionworks-tracking-repo Release: Signed file isn’t
valid, got ‘NODATA’ (does the network require authentication?)

执行

sudo rm /etc/apt/sources.list.d/***.list
sudo apt-get update -y

然后再执行sudo apt-get update

如果没问题然后继续执行

sudo apt-get install python-catkin-tools

mkdir -p rosworkspace/src

cd rosworkspace/src

将ROS包放到src目录下，我这里用的1.1.12版本的，可在网盘或github下载．如下：

cd到rosworkspace目录下

cd ..

编译

 catkin_make -DCMAKE_BUILD_TYPE=Release

如果编译过程中报错

No rule to make target
‘usr/lib/aarch64-linux-gnu/libvtkGUISupportQtWebkit-6.3.so.6.3.0’,
needed by ‘…’. Stop.

原因是libvtkGUISupportQtWebkit-6.3.so.6.3.0失去了目标链接库，重新建立链接即可。
执行

sudo ln -s /usr/lib/aarch64-linux-gnu/libvtkCommonCore-6.3.so /usr/lib/aarch64-linux-gnu/libvtkGUISupportQtWebkit-6.3.so.6.3.0

然后继续编译,编译成功后执行

source devel/setup.bash

roslaunch hesai_lidar hesai_lidar.launch lidar_type:="PandarXTM" frame_id:="PandarXTM"

执行成功后如下：

打开rviz:

rviz

添加话题

双击PointCloud2

将Fixed Frame改成之前启动launch文件后终端上显示的/hesai/hesai_lidar/frame_id

即可看到雷达的三维点云

四、网页控制

按照前面正确设置IP后，输入网址：192.168.1.201
就可以通过网页进行设置