禾赛、速腾三维雷达适配lio-sam、fast-lio2建图算法

禾赛、速腾三维雷达适配lio-sam、fast-lio2建图算法

lio-sam与fast-lio2算法，对于机械雷达而言，均只适配了Veloyne雷达，而对国内的雷达均不适配。国内速腾、禾赛等雷达需要将点云数据结构转化为Veloyne结构，进而运行lio-sam、fast-lio等建图算法，本文主要讲解速腾、禾赛雷达数据格式与Velodyne数据格式之间的转换。

1.速腾雷达数据格式转换适配lio-sam算法

网上已开源速腾雷达转Veloyne数据结构算法，下面给出下载链接：https://gitee.com/duanyuanchao123/rs_to_velodyne.git

2.禾赛雷达数据格式转换适配lio-sam算法

禾赛雷达数据转换具体参考rs_to_velodyne，下载链接：https://gitee.com/duanyuanchao123/hesai_to_velodyne.git

2.1 禾赛雷达与Veloyne数据结构

禾赛雷达数据结构为：

// hesai lidar的点云格式
struct HesaiPointXYZIRT
{
    PCL_ADD_POINT4D;
    // uint8_t intensity;
    PCL_ADD_INTENSITY;
    double timestamp = 0;
    uint16_t ring = 0;
    EIGEN_MAKE_ALIGNED_OPERATOR_NEW
} EIGEN_ALIGN16;

POINT_CLOUD_REGISTER_POINT_STRUCT(HesaiPointXYZIRT,
                                  (float, x, x)(float, y, y)(float, z, z)(float, intensity, intensity)(double, timestamp, timestamp)(uint16_t, ring, ring))

Veloyne数据结构为：

// velodyne的点云格式
struct VelodynePointXYZIRT
{
    PCL_ADD_POINT4D

    PCL_ADD_INTENSITY;
    uint16_t ring;
    float time;

    EIGEN_MAKE_ALIGNED_OPERATOR_NEW
} EIGEN_ALIGN16;

POINT_CLOUD_REGISTER_POINT_STRUCT(VelodynePointXYZIRT,
                                  (float, x, x)(float, y, y)(float, z, z)(float, intensity, intensity)(uint16_t, ring, ring)(float, time, time))

2.2 安装hesai_to_velodyne转换节点

1. 安装完成禾赛雷达驱动之后，下载hesai_to_velodyne功能包并编译。

git clone https://gitee.com/duanyuanchao123/hesai_to_velodyne.git
cd ..
catkin_make

2. 新建launch文件夹，在launch文件夹内新建hesai_to_velodyne.launch启动节点

<launch>
    <param name="lidar_topic" value="/hesai_2/pandar"/>
    <param name="publish_lidar_topic" value="/velodyne_back_points"/>

    <node pkg="hesai_to_velodyne" type="hesai_to_velodyne" name="hesai_to_velodyne_node" args="XYZIRT XYZIRT"/>
</launch>

3. 修改订阅的雷达话题lidar_topic和发布转换后发布的雷达话题，注意args参数，采集XYZIRT格式的点输入XYZIRT，采集XYZIRT格式的点输入XYZIRT

<param name="lidar_topic" value="/hesai_2/pandar"/>
<param name="publish_lidar_topic" value="/velodyne_points"/>

5. 编译并启动launch文件

catkin_make
source  devel/setup.bash
roslaunch  hesai_to_velodyne hesai_to_velodyne.launch

6. rostopic list查看发布后的话题消息，同过rostopic echo /velodyne_points -p打印查看/veloyne_points话题数据
   
7. .在雷达驱动的launch文件中添加以下语句，将激光雷达与数据转换一起启动

 <!--- hesai_ros -->
  <include file="$(find hesai_to_velodyne)/launch/hesai_to_velodyne.launch" />