From a0ed7135e0f1e0110bf6b254f59af5ba4093b10b Mon Sep 17 00:00:00 2001 From: Mark Ibrahim Date: Wed, 19 Aug 2026 10:04:26 -0400 Subject: [PATCH] Added Hesai Lidar Documentation RPSW-2837 Added Hesai to the clearpath-dictionary.txt Added Hesai XT32 to supported sensors Added hesai_xt32.png --- .cspell/clearpath-dictionary.txt | 1 + components/supported_sensors.mdx | 191 +++++++++--------- .../components/yaml/sensors/hesai_lidar.mdx | 84 ++++++++ .../yaml/sensors/img/hesai_xt32_lidar.png | Bin 0 -> 60798 bytes .../ros/config/yaml/sensors/lidar3d.mdx | 4 + 5 files changed, 185 insertions(+), 95 deletions(-) create mode 100644 docs_versioned_docs/version-ros2jazzy/components/yaml/sensors/hesai_lidar.mdx create mode 100644 docs_versioned_docs/version-ros2jazzy/components/yaml/sensors/img/hesai_xt32_lidar.png diff --git a/.cspell/clearpath-dictionary.txt b/.cspell/clearpath-dictionary.txt index 8cb9a8185..cfd3d5340 100644 --- a/.cspell/clearpath-dictionary.txt +++ b/.cspell/clearpath-dictionary.txt @@ -29,6 +29,7 @@ Futaba Greenlee Gurum Henryuan +Hesai Hokuyo Icotek Inventus diff --git a/components/supported_sensors.mdx b/components/supported_sensors.mdx index 88aa0ef02..d5f4a1a93 100644 --- a/components/supported_sensors.mdx +++ b/components/supported_sensors.mdx @@ -1,5 +1,5 @@ -import Tabs from '@theme/Tabs'; -import TabItem from '@theme/TabItem'; +import Tabs from "@theme/Tabs"; +import TabItem from "@theme/TabItem"; ## Supported Sensors {#supported-sensors} @@ -22,148 +22,149 @@ Debian drivers are automatically installed on robots as part of the ### 2D Lidars -| Sensor | `amd64` | `arm64` | Source | -|:------------------------------------------------------------------------------------ |:--------|:--------|:----------------------------------------------------- | -| [SICK LMS-111/LMS-151](/docs_robots/accessories/sensors/lidar_2d/sick_lms111) | Debian | Debian | [LMS1xx](https://github.com/clearpathrobotics/LMS1xx) | -| [Hokuyo UST10-LX](/docs_robots/accessories/sensors/lidar_2d/hokuyo_ust10_lx) | Debian | Debian | [urg_node](https://github.com/ros-drivers/urg_node) | -| [Hokuyo UST20-LX](/docs_robots/accessories/sensors/lidar_2d/hokuyo_ust20_lx) | Debian | Debian | [urg_node](https://github.com/ros-drivers/urg_node) | -| [Hokuyo UST30-LX](/docs_robots/accessories/sensors/lidar_2d/hokuyo_ust30_lx) | Debian | Debian | [urg_node](https://github.com/ros-drivers/urg_node) | +| Sensor | `amd64` | `arm64` | Source | +| :---------------------------------------------------------------------------- | :------ | :------ | :---------------------------------------------------- | +| [SICK LMS-111/LMS-151](/docs_robots/accessories/sensors/lidar_2d/sick_lms111) | Debian | Debian | [LMS1xx](https://github.com/clearpathrobotics/LMS1xx) | +| [Hokuyo UST10-LX](/docs_robots/accessories/sensors/lidar_2d/hokuyo_ust10_lx) | Debian | Debian | [urg_node](https://github.com/ros-drivers/urg_node) | +| [Hokuyo UST20-LX](/docs_robots/accessories/sensors/lidar_2d/hokuyo_ust20_lx) | Debian | Debian | [urg_node](https://github.com/ros-drivers/urg_node) | +| [Hokuyo UST30-LX](/docs_robots/accessories/sensors/lidar_2d/hokuyo_ust30_lx) | Debian | Debian | [urg_node](https://github.com/ros-drivers/urg_node) | ### 3D Lidars -| Sensor | `amd64` | `arm64` | Source | -|:------------------------------------------------------------------------------------ |:--------|:--------|:--------------------------------------------------------- | -| [Velodyne Puck](/docs_robots/accessories/sensors/lidar_3d/velodyne_puck) | Debian | Debian | [Velodyne](https://github.com/ros-drivers/velodyne) | -| [Ouster OS-1](/docs_robots/accessories/sensors/lidar_3d/ouster) | Debian | Debian | [Ouster](https://github.com/ouster-lidar/ouster-ros) | +| Sensor | `amd64` | `arm64` | Source | +| :----------------------------------------------------------------------------------------- | :------ | :------ | :-------------------------------------------------------- | +| [Velodyne Puck](/docs_robots/accessories/sensors/lidar_3d/velodyne_puck) | Debian | Debian | [Velodyne](https://github.com/ros-drivers/velodyne) | +| [Ouster OS-1](/docs_robots/accessories/sensors/lidar_3d/ouster) | Debian | Debian | [Ouster](https://github.com/ouster-lidar/ouster-ros) | | [Seyond Robin W (Mesh only support)](/docs/ros/config/yaml/sensors/lidar3d#seyond-robin-w) | Source | Source | [Seyond](https://github.com/Seyond-Inc/seyond_ros_driver) | ### IMUs -| Sensor | `amd64` | `arm64` | Source | -|:------------------------------------------------------------------------------------ |:------------|:------------|:------------------------------------------------------------------------- | -| [MicroStrain 3DM-GX5](/docs_robots/accessories/sensors/imu/microstrain_3dm_gx5) | Debian | Debian | [LORD Inertial](https://github.com/LORD-MicroStrain/microstrain_inertial) | -| MicroStrain GV7-AHRS | Unsupported | Unsupported | [LORD Inertial](https://github.com/LORD-MicroStrain/microstrain_inertial) | -| [MicroStrain 3DM-GQ7](/docs_robots/accessories/sensors/gps/microstrain_gq7) | Debian | Debian | [LORD Inertial](https://github.com/LORD-MicroStrain/microstrain_inertial) | -| [Redshift Labs UM7](/docs_robots/accessories/sensors/imu/redshift_labs_um7) | Debian | Debian | [UM7](https://github.com/ros-drivers/um7) | -| CH Robotics UM6 | Debian | Debian | [UM7](https://github.com/ros-drivers/um7) | -| Phidgets IMU | Unsupported | Unsupported | [Phidgets](https://github.com/ros-drivers/phidgets_drivers) | +| Sensor | `amd64` | `arm64` | Source | +| :------------------------------------------------------------------------------ | :---------- | :---------- | :------------------------------------------------------------------------ | +| [MicroStrain 3DM-GX5](/docs_robots/accessories/sensors/imu/microstrain_3dm_gx5) | Debian | Debian | [LORD Inertial](https://github.com/LORD-MicroStrain/microstrain_inertial) | +| MicroStrain GV7-AHRS | Unsupported | Unsupported | [LORD Inertial](https://github.com/LORD-MicroStrain/microstrain_inertial) | +| [MicroStrain 3DM-GQ7](/docs_robots/accessories/sensors/gps/microstrain_gq7) | Debian | Debian | [LORD Inertial](https://github.com/LORD-MicroStrain/microstrain_inertial) | +| [Redshift Labs UM7](/docs_robots/accessories/sensors/imu/redshift_labs_um7) | Debian | Debian | [UM7](https://github.com/ros-drivers/um7) | +| CH Robotics UM6 | Debian | Debian | [UM7](https://github.com/ros-drivers/um7) | +| Phidgets IMU | Unsupported | Unsupported | [Phidgets](https://github.com/ros-drivers/phidgets_drivers) | ### GPS -| Sensor | `amd64` | `arm64` | Source | -|:------------------------------------------------------------------------------------ |:--------|:--------|:------------------------------------------------------------------------- | -| [MicroStrain 3DM-GQ7](/docs_robots/accessories/sensors/gps/microstrain_gq7) | Debian | Debian | [LORD Inertial](https://github.com/LORD-MicroStrain/microstrain_inertial) | -| [Garmin GPS 18x](/docs_robots/accessories/sensors/gps/garmin_gps_18x) | Debian | Debian | [NMEA Navsat Driver](https://github.com/ros-drivers/nmea_navsat_driver) | -| [Swift Navigation Duro](/docs_robots/accessories/sensors/gps/swift_navigation_duro) | Source | Source | [Duro GPS Driver](https://github.com/szenergy/duro_gps_driver) | -| NovAtel SMART6 and SMART7 | Debian | Debian | [NMEA Navsat Driver](https://github.com/ros-drivers/nmea_navsat_driver) | +| Sensor | `amd64` | `arm64` | Source | +| :---------------------------------------------------------------------------------- | :------ | :------ | :------------------------------------------------------------------------ | +| [MicroStrain 3DM-GQ7](/docs_robots/accessories/sensors/gps/microstrain_gq7) | Debian | Debian | [LORD Inertial](https://github.com/LORD-MicroStrain/microstrain_inertial) | +| [Garmin GPS 18x](/docs_robots/accessories/sensors/gps/garmin_gps_18x) | Debian | Debian | [NMEA Navsat Driver](https://github.com/ros-drivers/nmea_navsat_driver) | +| [Swift Navigation Duro](/docs_robots/accessories/sensors/gps/swift_navigation_duro) | Source | Source | [Duro GPS Driver](https://github.com/szenergy/duro_gps_driver) | +| NovAtel SMART6 and SMART7 | Debian | Debian | [NMEA Navsat Driver](https://github.com/ros-drivers/nmea_navsat_driver) | ### Inertial Navigation Sensors -| Sensor | `amd64` | `arm64` | Source | -|:------------------------------------------------------------------------------------ |:--------|:--------|:----------------------------------------------------------------------- | -| [Fixposition Vision-RTK 2](/docs_robots/accessories/sensors/ins/fixposition) | Source | Source | [Fixposition Driver](https://github.com/fixposition/fixposition_driver) | +| Sensor | `amd64` | `arm64` | Source | +| :--------------------------------------------------------------------------- | :------ | :------ | :---------------------------------------------------------------------- | +| [Fixposition Vision-RTK 2](/docs_robots/accessories/sensors/ins/fixposition) | Source | Source | [Fixposition Driver](https://github.com/fixposition/fixposition_driver) | ### Optical Cameras -| Sensor | `amd64` | `arm64` | Source | -|:------------------------------------------------------------------------------------ |:--------|:--------|:----------------------------------------------------------------------- | -| [Axis F1035-E](/docs_robots/accessories/sensors/cameras/axis_f1035_e) | Debian | Debian | [axis_camera](https://github.com/ros-drivers/axis_camera.git) | -| [Axis M5525-E](/docs_robots/accessories/sensors/cameras/axis_m5525_e) | Debian | Debian | [axis_camera](https://github.com/ros-drivers/axis_camera.git) | -| [Axis M5526-E](/docs_robots/accessories/sensors/cameras/axis_m5526_e) | Debian | Debian | [axis_camera](https://github.com/ros-drivers/axis_camera.git) | -| [Axis Q6225-LE-E](/docs_robots/accessories/sensors/cameras/axis_q6225_le) | Debian | Debian | [axis_camera](https://github.com/ros-drivers/axis_camera.git) | -| [Flir Blackfly S](/docs_robots/accessories/sensors/cameras/flir_blackfly_s) | Debian | Debian | [flir_camera_driver](https://github.com/ros-drivers/flir_camera_driver) | +| Sensor | `amd64` | `arm64` | Source | +| :-------------------------------------------------------------------------- | :------ | :------ | :---------------------------------------------------------------------- | +| [Axis F1035-E](/docs_robots/accessories/sensors/cameras/axis_f1035_e) | Debian | Debian | [axis_camera](https://github.com/ros-drivers/axis_camera.git) | +| [Axis M5525-E](/docs_robots/accessories/sensors/cameras/axis_m5525_e) | Debian | Debian | [axis_camera](https://github.com/ros-drivers/axis_camera.git) | +| [Axis M5526-E](/docs_robots/accessories/sensors/cameras/axis_m5526_e) | Debian | Debian | [axis_camera](https://github.com/ros-drivers/axis_camera.git) | +| [Axis Q6225-LE-E](/docs_robots/accessories/sensors/cameras/axis_q6225_le) | Debian | Debian | [axis_camera](https://github.com/ros-drivers/axis_camera.git) | +| [Flir Blackfly S](/docs_robots/accessories/sensors/cameras/flir_blackfly_s) | Debian | Debian | [flir_camera_driver](https://github.com/ros-drivers/flir_camera_driver) | ### Depth Cameras -| Sensor | `amd64` | `arm64` | Source | -|:------------------------------------------------------------------------------------ |:--------|:--------|:------------------------------------------------------------------------------- | -| [Intel Realsense D435](/docs_robots/accessories/sensors/cameras/realsense_d435) | Debian | Debian | [Realsense](https://github.com/clearpathrobotics/realsense_ros) | -| [Intel Realsense D435i](/docs_robots/accessories/sensors/cameras/realsense_d435) | Debian | Debian | [Realsense](https://github.com/clearpathrobotics/realsense_ros) | -| Intel Realsense D415 | Debian | Debian | [Realsense](https://github.com/clearpathrobotics/realsense_ros) | -| Intel Realsense D455 | Debian | Debian | [Realsense](https://github.com/clearpathrobotics/realsense_ros) | -| Intel Realsense D456 | Debian | Debian | [Realsense](https://github.com/clearpathrobotics/realsense_ros) | -| [Luxonis OAK-D](/docs_robots/accessories/sensors/cameras/luxonis_oakd) | Debian | Debian | [depthai-ros](https://github.com/luxonis/depthai-ros.git) | -| [Stereolabs Zed 2](/docs_robots/accessories/sensors/cameras/stereolabs_zed_2) | Source | Source | [zed-ros2-wrapper](https://github.com/stereolabs/zed-ros2-wrapper.git) | +| Sensor | `amd64` | `arm64` | Source | +| :------------------------------------------------------------------------------- | :------ | :------ | :--------------------------------------------------------------------- | +| [Intel Realsense D435](/docs_robots/accessories/sensors/cameras/realsense_d435) | Debian | Debian | [Realsense](https://github.com/clearpathrobotics/realsense_ros) | +| [Intel Realsense D435i](/docs_robots/accessories/sensors/cameras/realsense_d435) | Debian | Debian | [Realsense](https://github.com/clearpathrobotics/realsense_ros) | +| Intel Realsense D415 | Debian | Debian | [Realsense](https://github.com/clearpathrobotics/realsense_ros) | +| Intel Realsense D455 | Debian | Debian | [Realsense](https://github.com/clearpathrobotics/realsense_ros) | +| Intel Realsense D456 | Debian | Debian | [Realsense](https://github.com/clearpathrobotics/realsense_ros) | +| [Luxonis OAK-D](/docs_robots/accessories/sensors/cameras/luxonis_oakd) | Debian | Debian | [depthai-ros](https://github.com/luxonis/depthai-ros.git) | +| [Stereolabs Zed 2](/docs_robots/accessories/sensors/cameras/stereolabs_zed_2) | Source | Source | [zed-ros2-wrapper](https://github.com/stereolabs/zed-ros2-wrapper.git) | ### Pan-Tilt Units -| Sensor | `amd64` | `arm64` | Source | -|:------------------------------------------------------------------------------------ |:--------|:--------|:----------------------------------------------------- | -| [FLIR PTU-5](/docs/ros/config/yaml/sensors/ptu#flir-ptu) | Debian | Debian | [flir_ptu](https://github.com/ros-drivers/flir_ptu) | +| Sensor | `amd64` | `arm64` | Source | +| :------------------------------------------------------- | :------ | :------ | :-------------------------------------------------- | +| [FLIR PTU-5](/docs/ros/config/yaml/sensors/ptu#flir-ptu) | Debian | Debian | [flir_ptu](https://github.com/ros-drivers/flir_ptu) | ### 2D Lidars -| Sensor | `amd64` | `arm64` | Source | -|:------------------------------------------------------------------------------------ |:--------|:--------|:----------------------------------------------------- | -| [SICK LMS-111/LMS-151](/docs_robots/accessories/sensors/lidar_2d/sick_lms111) | Debian | Debian | [LMS1xx](https://github.com/clearpathrobotics/LMS1xx) | -| [Hokuyo UST10-LX](/docs_robots/accessories/sensors/lidar_2d/hokuyo_ust10_lx) | Debian | Debian | [urg_node](https://github.com/ros-drivers/urg_node) | -| [Hokuyo UST20-LX](/docs_robots/accessories/sensors/lidar_2d/hokuyo_ust20_lx) | Debian | Debian | [urg_node](https://github.com/ros-drivers/urg_node) | -| [Hokuyo UST30-LX](/docs_robots/accessories/sensors/lidar_2d/hokuyo_ust30_lx) | Debian | Debian | [urg_node](https://github.com/ros-drivers/urg_node) | +| Sensor | `amd64` | `arm64` | Source | +| :---------------------------------------------------------------------------- | :------ | :------ | :---------------------------------------------------- | +| [SICK LMS-111/LMS-151](/docs_robots/accessories/sensors/lidar_2d/sick_lms111) | Debian | Debian | [LMS1xx](https://github.com/clearpathrobotics/LMS1xx) | +| [Hokuyo UST10-LX](/docs_robots/accessories/sensors/lidar_2d/hokuyo_ust10_lx) | Debian | Debian | [urg_node](https://github.com/ros-drivers/urg_node) | +| [Hokuyo UST20-LX](/docs_robots/accessories/sensors/lidar_2d/hokuyo_ust20_lx) | Debian | Debian | [urg_node](https://github.com/ros-drivers/urg_node) | +| [Hokuyo UST30-LX](/docs_robots/accessories/sensors/lidar_2d/hokuyo_ust30_lx) | Debian | Debian | [urg_node](https://github.com/ros-drivers/urg_node) | ### 3D Lidars -| Sensor | `amd64` | `arm64` | Source | -|:------------------------------------------------------------------------------------ |:--------|:--------|:--------------------------------------------------------- | -| [Velodyne Puck](/docs_robots/accessories/sensors/lidar_3d/velodyne_puck) | Debian | Debian | [Velodyne](https://github.com/ros-drivers/velodyne) | -| [Ouster OS-1](/docs_robots/accessories/sensors/lidar_3d/ouster) | Debian | Debian | [Ouster](https://github.com/ouster-lidar/ouster-ros) | -| [Seyond Robin W (Mesh only support)](/docs/ros/config/yaml/sensors/lidar3d#seyond-robin-w) | Source | Source | [Seyond](https://github.com/Seyond-Inc/seyond_ros_driver) | +| Sensor | `amd64` | `arm64` | Source | +| :----------------------------------------------------------------------------------------- | :------ | :------ | :------------------------------------------------------------- | +| [Velodyne Puck](/docs_robots/accessories/sensors/lidar_3d/velodyne_puck) | Debian | Debian | [Velodyne](https://github.com/ros-drivers/velodyne) | +| [Ouster OS-1](/docs_robots/accessories/sensors/lidar_3d/ouster) | Debian | Debian | [Ouster](https://github.com/ouster-lidar/ouster-ros) | +| [Seyond Robin W (Mesh only support)](/docs/ros/config/yaml/sensors/lidar3d#seyond-robin-w) | Source | Source | [Seyond](https://github.com/Seyond-Inc/seyond_ros_driver) | +| [Hesai XT32 (Mesh only support)](/docs/ros/config/yaml/sensors/lidar3d#hesai-lidar) | Source | Source | [Hesai](https://github.com/HesaiTechnology/HesaiLidar_ROS_2.0) | ### IMUs -| Sensor | `amd64` | `arm64` | Source | -|:------------------------------------------------------------------------------------ |:--------|:--------|:------------------------------------------------------------------------- | -| [MicroStrain 3DM-GX5](/docs_robots/accessories/sensors/imu/microstrain_3dm_gx5) | Debian | Debian | [LORD Inertial](https://github.com/LORD-MicroStrain/microstrain_inertial) | -| MicroStrain GV7-AHRS | Debian | Debian | [LORD Inertial](https://github.com/LORD-MicroStrain/microstrain_inertial) | -| [MicroStrain 3DM-GQ7](/docs_robots/accessories/sensors/gps/microstrain_gq7) | Debian | Debian | [LORD Inertial](https://github.com/LORD-MicroStrain/microstrain_inertial) | -| [Redshift Labs UM7](/docs_robots/accessories/sensors/imu/redshift_labs_um7) | Debian | Debian | [UM7](https://github.com/ros-drivers/um7) | -| CH Robotics UM6 | Debian | Debian | [UM7](https://github.com/ros-drivers/um7) | -| Phidgets IMU | Debian | Debian | [Phidgets](https://github.com/ros-drivers/phidgets_drivers) | +| Sensor | `amd64` | `arm64` | Source | +| :------------------------------------------------------------------------------ | :------ | :------ | :------------------------------------------------------------------------ | +| [MicroStrain 3DM-GX5](/docs_robots/accessories/sensors/imu/microstrain_3dm_gx5) | Debian | Debian | [LORD Inertial](https://github.com/LORD-MicroStrain/microstrain_inertial) | +| MicroStrain GV7-AHRS | Debian | Debian | [LORD Inertial](https://github.com/LORD-MicroStrain/microstrain_inertial) | +| [MicroStrain 3DM-GQ7](/docs_robots/accessories/sensors/gps/microstrain_gq7) | Debian | Debian | [LORD Inertial](https://github.com/LORD-MicroStrain/microstrain_inertial) | +| [Redshift Labs UM7](/docs_robots/accessories/sensors/imu/redshift_labs_um7) | Debian | Debian | [UM7](https://github.com/ros-drivers/um7) | +| CH Robotics UM6 | Debian | Debian | [UM7](https://github.com/ros-drivers/um7) | +| Phidgets IMU | Debian | Debian | [Phidgets](https://github.com/ros-drivers/phidgets_drivers) | ### GPS -| Sensor | `amd64` | `arm64` | Source | -|:------------------------------------------------------------------------------------ |:--------|:--------|:------------------------------------------------------------------------- | -| [MicroStrain 3DM-GQ7](/docs_robots/accessories/sensors/gps/microstrain_gq7) | Debian | Debian | [LORD Inertial](https://github.com/LORD-MicroStrain/microstrain_inertial) | -| [Garmin GPS 18x](/docs_robots/accessories/sensors/gps/garmin_gps_18x) | Debian | Debian | [NMEA Navsat Driver](https://github.com/ros-drivers/nmea_navsat_driver) | -| [Swift Navigation Duro](/docs_robots/accessories/sensors/gps/swift_navigation_duro) | Source | Source | [Duro GPS Driver](https://github.com/szenergy/duro_gps_driver) | -| NovAtel SMART6 and SMART7 | Debian | Debian | [NMEA Navsat Driver](https://github.com/ros-drivers/nmea_navsat_driver) | +| Sensor | `amd64` | `arm64` | Source | +| :---------------------------------------------------------------------------------- | :------ | :------ | :------------------------------------------------------------------------ | +| [MicroStrain 3DM-GQ7](/docs_robots/accessories/sensors/gps/microstrain_gq7) | Debian | Debian | [LORD Inertial](https://github.com/LORD-MicroStrain/microstrain_inertial) | +| [Garmin GPS 18x](/docs_robots/accessories/sensors/gps/garmin_gps_18x) | Debian | Debian | [NMEA Navsat Driver](https://github.com/ros-drivers/nmea_navsat_driver) | +| [Swift Navigation Duro](/docs_robots/accessories/sensors/gps/swift_navigation_duro) | Source | Source | [Duro GPS Driver](https://github.com/szenergy/duro_gps_driver) | +| NovAtel SMART6 and SMART7 | Debian | Debian | [NMEA Navsat Driver](https://github.com/ros-drivers/nmea_navsat_driver) | ### Inertial Navigation Sensors -| Sensor | `amd64` | `arm64` | Source | -|:------------------------------------------------------------------------------------ |:--------|:--------|:----------------------------------------------------------------------- | -| [Fixposition Vision-RTK 2](/docs_robots/accessories/sensors/ins/fixposition) | Source | Source | [Fixposition Driver](https://github.com/fixposition/fixposition_driver) | +| Sensor | `amd64` | `arm64` | Source | +| :--------------------------------------------------------------------------- | :------ | :------ | :---------------------------------------------------------------------- | +| [Fixposition Vision-RTK 2](/docs_robots/accessories/sensors/ins/fixposition) | Source | Source | [Fixposition Driver](https://github.com/fixposition/fixposition_driver) | ### Optical Cameras -| Sensor | `amd64` | `arm64` | Source | -|:------------------------------------------------------------------------------------ |:--------|:--------|:----------------------------------------------------------------------- | -| [Axis F1035-E](/docs_robots/accessories/sensors/cameras/axis_f1035_e) | Debian | Debian | [axis_camera](https://github.com/ros-drivers/axis_camera.git) | -| [Axis M5525-E](/docs_robots/accessories/sensors/cameras/axis_m5525_e) | Debian | Debian | [axis_camera](https://github.com/ros-drivers/axis_camera.git) | -| [Axis M5526-E](/docs_robots/accessories/sensors/cameras/axis_m5526_e) | Debian | Debian | [axis_camera](https://github.com/ros-drivers/axis_camera.git) | -| [Axis Q6225-LE-E](/docs_robots/accessories/sensors/cameras/axis_q6225_le) | Debian | Debian | [axis_camera](https://github.com/ros-drivers/axis_camera.git) | -| [Flir Blackfly S](/docs_robots/accessories/sensors/cameras/flir_blackfly_s) | Debian | Debian | [flir_camera_driver](https://github.com/ros-drivers/flir_camera_driver) | +| Sensor | `amd64` | `arm64` | Source | +| :-------------------------------------------------------------------------- | :------ | :------ | :---------------------------------------------------------------------- | +| [Axis F1035-E](/docs_robots/accessories/sensors/cameras/axis_f1035_e) | Debian | Debian | [axis_camera](https://github.com/ros-drivers/axis_camera.git) | +| [Axis M5525-E](/docs_robots/accessories/sensors/cameras/axis_m5525_e) | Debian | Debian | [axis_camera](https://github.com/ros-drivers/axis_camera.git) | +| [Axis M5526-E](/docs_robots/accessories/sensors/cameras/axis_m5526_e) | Debian | Debian | [axis_camera](https://github.com/ros-drivers/axis_camera.git) | +| [Axis Q6225-LE-E](/docs_robots/accessories/sensors/cameras/axis_q6225_le) | Debian | Debian | [axis_camera](https://github.com/ros-drivers/axis_camera.git) | +| [Flir Blackfly S](/docs_robots/accessories/sensors/cameras/flir_blackfly_s) | Debian | Debian | [flir_camera_driver](https://github.com/ros-drivers/flir_camera_driver) | ### Depth Cameras -| Sensor | `amd64` | `arm64` | Source | -|:------------------------------------------------------------------------------------ |:--------|:--------|:------------------------------------------------------------------------------- | -| [Intel Realsense D435](/docs_robots/accessories/sensors/cameras/realsense_d435) | Debian | Debian | [Realsense](https://github.com/clearpathrobotics/realsense_ros) | -| [Intel Realsense D435i](/docs_robots/accessories/sensors/cameras/realsense_d435) | Debian | Debian | [Realsense](https://github.com/clearpathrobotics/realsense_ros) | -| Intel Realsense D415 | Debian | Debian | [Realsense](https://github.com/clearpathrobotics/realsense_ros) | -| Intel Realsense D455 | Debian | Debian | [Realsense](https://github.com/clearpathrobotics/realsense_ros) | -| Intel Realsense D456 | Debian | Debian | [Realsense](https://github.com/clearpathrobotics/realsense_ros) | -| [Luxonis OAK-D](/docs_robots/accessories/sensors/cameras/luxonis_oakd) | Debian | Debian | [depthai-ros](https://github.com/luxonis/depthai-ros.git) | -| [Stereolabs Zed 2](/docs_robots/accessories/sensors/cameras/stereolabs_zed_2) | Source | Source | [zed-ros2-wrapper](https://github.com/stereolabs/zed-ros2-wrapper.git) | +| Sensor | `amd64` | `arm64` | Source | +| :------------------------------------------------------------------------------- | :------ | :------ | :--------------------------------------------------------------------- | +| [Intel Realsense D435](/docs_robots/accessories/sensors/cameras/realsense_d435) | Debian | Debian | [Realsense](https://github.com/clearpathrobotics/realsense_ros) | +| [Intel Realsense D435i](/docs_robots/accessories/sensors/cameras/realsense_d435) | Debian | Debian | [Realsense](https://github.com/clearpathrobotics/realsense_ros) | +| Intel Realsense D415 | Debian | Debian | [Realsense](https://github.com/clearpathrobotics/realsense_ros) | +| Intel Realsense D455 | Debian | Debian | [Realsense](https://github.com/clearpathrobotics/realsense_ros) | +| Intel Realsense D456 | Debian | Debian | [Realsense](https://github.com/clearpathrobotics/realsense_ros) | +| [Luxonis OAK-D](/docs_robots/accessories/sensors/cameras/luxonis_oakd) | Debian | Debian | [depthai-ros](https://github.com/luxonis/depthai-ros.git) | +| [Stereolabs Zed 2](/docs_robots/accessories/sensors/cameras/stereolabs_zed_2) | Source | Source | [zed-ros2-wrapper](https://github.com/stereolabs/zed-ros2-wrapper.git) | ### Pan-Tilt Units -| Sensor | `amd64` | `arm64` | Source | -|:------------------------------------------------------------------------------------ |:--------|:--------|:----------------------------------------------------- | -| [FLIR PTU-5](/docs/ros/config/yaml/sensors/ptu#flir-ptu) | Debian | Debian | [flir_ptu](https://github.com/ros-drivers/flir_ptu) | +| Sensor | `amd64` | `arm64` | Source | +| :------------------------------------------------------- | :------ | :------ | :-------------------------------------------------- | +| [FLIR PTU-5](/docs/ros/config/yaml/sensors/ptu#flir-ptu) | Debian | Debian | [flir_ptu](https://github.com/ros-drivers/flir_ptu) | diff --git a/docs_versioned_docs/version-ros2jazzy/components/yaml/sensors/hesai_lidar.mdx b/docs_versioned_docs/version-ros2jazzy/components/yaml/sensors/hesai_lidar.mdx new file mode 100644 index 000000000..cc4c3f8c0 --- /dev/null +++ b/docs_versioned_docs/version-ros2jazzy/components/yaml/sensors/hesai_lidar.mdx @@ -0,0 +1,84 @@ + + + + + +
+
+
+ +
+
+		 +
+ +```yaml +lidar3d: + - model: hesai_lidar + urdf_enabled: true + launch_enabled: true + parent: lidar3d_row_link + xyz: [0.0, 0.0, 0.0] + rpy: [0.0, 0.0, 0.0] + ros_parameters: + hesai_driver: + config_path: /path/to/hesai/config/file0.yaml + - model: hesai_lidar + urdf_enabled: true + launch_enabled: true + parent: lidar3d_row_link + xyz: [0.1, 0.1, 0.1] + rpy: [0.0, 0.0, 0.0] + ros_parameters: + hesai_driver: + config_path: /path/to/hesai/config/file1.yaml +``` + +
+
+ +#### Package and Setup +The Hesai LiDAR uses the `hesai_ros_driver` ROS 2 driver. The driver is open source, maintained by Hesai Technology, +and hosted on [GitHub - HesaiLidar_ROS_2.0](https://github.com/HesaiTechnology/HesaiLidar_ROS_2.0). The `hesai_ros_driver` +nodes depend on the [HesaiLidar_SDK_2.0](https://github.com/HesaiTechnology/HesaiLidar_SDK_2.0). The `hesai_ros_driver` +ROS2 package and SDK **are not installed by ROS dependencies** and need to be built against the specific version +installed on your computer. Therefore, **you will have to install these manually by following the instructions in the +[`HesaiLidar_ROS_2.0`](https://github.com/HesaiTechnology/HesaiLidar_ROS_2.0/blob/master/README.md) repository**. + +The `hesai_ros_driver` only accepts one single ROS parameter which is `config_path` as shown above. +The `config_path` points to a configuraiton file formated as shown in the HesaiLidar_SDK_2.0 [config.yaml](https://github.com/HesaiTechnology/HesaiLidar_ROS_2.0/blob/master/config/config.yaml). + +Each Hesai LiDAR must be listed first under lidar3d in the `robot.yaml` file and provide a different +the `config_path`. Each Hesai LiDAR must point to a unique `config.yaml`. +For the first Hesai LiDAR listed in the `robot.yaml` the following parameters in the `config.yaml` +must be modifed as shown: +``` +lidar: + - driver: + ... + lidar_udp_type: + device_ip_address: 192.168.131.25 + ... + multicast_ip_address: 192.168.131.1 + ... + ros: + ros_frame_id: lidar3d_0_laser + ... +``` +Any additional Hesai LiDAR should increment the `device_ip_address` (first lidar ip = 192.168.131.25, second lidar ip = 192.168.131.26, etc.) +along with the `ros_frame_id` (first lidar frame ID = `lidar3d_0_laser`, second lidar frame ID = `lidar3d_1_laser`, etc.) +The IP of the physical Hesai LiDAR must be updated as well. See the User Guide for the XT32 Hesai Lidar that can be downloaded here: https://www.cratustech.com/downloads/. + +The change of `multicast_ip_address` should be set according to the [Reserved IP Addresses](/docs/ros/networking/network_ip_addresses). +The value of `192.168.131.1` should be used if the hesai lidar is connected to the Primary Computer. + +The user can change any other parameter in the `config.yaml` based on their own use case. + + +#### Model + +There are several types of Hesai LiDAR models. Currently only the XT32 is supported. + +#### Mesh-Only Support + +The Hesai XT32 Lidar is only supported as a mesh in `robot.yaml`. \ No newline at end of file diff --git a/docs_versioned_docs/version-ros2jazzy/components/yaml/sensors/img/hesai_xt32_lidar.png b/docs_versioned_docs/version-ros2jazzy/components/yaml/sensors/img/hesai_xt32_lidar.png new file mode 100644 index 0000000000000000000000000000000000000000..f8ea36928feb1ea5ef9b498762cb6cae2741d276 GIT binary patch literal 60798 zcmXtf2|QHq_y3*M%-F`hWEuO|$C@q1*d>IJ#AK&rEy^~7>}!-YOMMclkQOZ%vhP`v zlwBy<30eNv_xJkWmzEcI?mf@*obx{K^FBwSrMVF!h8F_>0HcYqz7+sKq2M1*6cYT7 z7<672{0AOHGOL`MtmX)!$rr+5O_>@8k5! zUw>h6{}<7YqQ(LuD6FWO+G+;812(5hyv`ITw}J0ex4SuZG%FP{V)v)sPU%$QJF>`K zVKE=`bBX!MlWpGyv++p}@oDL<3`} z-xbo!SQHUo}iL#0~B%P$P@5gZq)-lh=h$ z?q&M?n(}2c>tBk3+eKu)JK&nz&rB%jC!!Eya2z1S9*eak(SV|&4OcS5&=|we68IgN zoU`B;y8%_J|APA5q|dvS*;yD$sAH4wR#6Pr1q&q^i{t^Oq|6R|5=rZS#$i)xl1lD3 zCO@=g66&iG%BE0o-LaN* zO~D%T&4K_8@sfRC9~+b6AQfeF&4O z@$K8G?d|QDJTh+{Ips=?J-No7QbWo_1NVH(ZwhB7#>QUHNFb7;k;T^8 zjE|pxc8Uy|mUiv#71ak+tE8oCPvP$^mb)IsS~VV|i8efO(iTs%%zwvrwF59i3`2suSk5obag z6c!cT%}gLRJ2i9e1nM_BJogU_Ov=h)8<6=Ftf71VTwS$}c3Zf1d$_96efQkHGRLnL zo*npkkz1(J!Pi;=^QQ^wYiES7sx5R$W}5+zZ#MV6GZj}$40Y7Pq&D+1|7EtXvIE~A z`fo>eqCO(I)rA@#ANIJy*daC+&X$N0O<}#Uvp?c@bU!3GG>~6x$JTHVDW{NL+4)NGcv&osc zjjq@&7(IMq;e~GYwDMBZ)S;tU&LN^Io2S>Ok06!XnBOD3$@9?#JQHXoy`tIaX@QW{ z6@V}wEZIvBp5XE+FhCQa@1>kEVI)*vU;mxzVocbfP+D4=f(};dz@*J+GuuV=0R&EM z)}CG}F~yqqmzA@^$?N5LJOTpM4zlaJb+qxferx_w>Fur1kkyH&J9)2A=zkOt1CUhh zZ_aW#YTDXOOG}bvwLIqL=KkT~%|?GWdBn%`(P1x|CtsJO+eobHX~rCyf8H+m`bWeD z-8`qSq%?OYR}syAE3LiV=-C%(EiEl_y@Ts(hnYVGZ$tmB$l9Nunx2OI{TrgSppRuW zj0N9zn<}?Ezj%Cb0Bx5j1RO74cGY;`qFp>YwFX>N%~V>9HNF3eRq?Qcmchzs%=tb; zGt>XU(Ur{DPI&De-($|wU-8urRn?9%HTH6AJH4kqMrO^)@z`uWAiCS%*9QinDEwIHrOYfO82YiBjWteBQz!OgM~&0-fT*bW)y89i$%w!F zD--qLDf5eGCGxB*2wlO63TF(U3!{%`NEHY7rgU;=r>3x3GSVUwVxlPmkveb!PF`;P z*T~iHKPIn8ddMB@&NA=*>XyH-3^T#7Di|-G0-f(#EUqc4#pocOF1%&($yB<8xkWfK z)t39~G1)qR+u~djwto!XLD}34A|S!7D8*wwMjXqotgK|WO^y3CwthN1gPQh;)yJ^z z6F~>lT|*yb&9W6Lqa%5Yqkxodvk9ATp)Hqu&x_za^pCPQLwA?1f#@~$Yag?~#RXzj zy~Fg641du>`P)$nnz6{wA=eOdqY7d(p3~&ob*wRaP~$fKdUI6*94b z%Y~YVWR&0#k&?Ue0fB)jSy@Vj4<1Y#qmE**O~n}*0|K#l-=@7*1n9lz=hQbI(#B8w z`G6aDly^nj7F_(TS(@O$29lp)cO;YC$dK)|g;yJZdm0fF`1UCM`$ z)wLfXld~sAgBwDAW^5jhex7Ltvq0U5KHi;!OSHE;t_cdPErt7BsP7;=gnlexYe+TI8IO~ zDRyga&>P|ek92zGfGLBZL@HPo0s*MYBQEXt8!Rw~!4qHGwsW3Mme;0prSDnT{7)>DWZV}maz}e#M^m$X-d%lPM_v7M zZbY%*2CBeHY9lQ}>mWSgxmSw9+;0`zN{)u(>9B*@)nnS^@s8d1AN8Nyn(dCvV#$q} z%21IQzQg_ny1MrboR5yL@(C7Ct*vE@9~ghQw@-PY@x<6D?S^sLdMt|Y-(CVXx-&Sb zGdLQ|gO1LZXY2n?e0n<>nJnM1%QqRh$ta!$vJ>Sz#vS%VR0^>FKeXcF;tD<55R;Ra zzcV`tzi4<#Zuk_v;fx=aUNOCxXj&315?uMESsa#<(cJW=;-ND5PsX%Ki6y=SS&(HN4`HQNxXDC zBmILGcbNIYW%%zOv`}uJN3Qvkll!`Jp0)R-=n1C|wE9i8$w4eb0%+wTMXJ-c*6b~B2+VS~# zX(=yhH$>J0==rI{vF2&FsJPIJ=&3L_7r@hv* zA9RH1PoG50#Ch=ilZ#PrAN8reRsg&c24cw~6RkoKvJ%iUhAlM=`>JntdyvPw|0dVp zx~X!Dv9fRjw~B&Bj`!5%qA@nwddhe@HlWAd|=FVk8XJBo!@m?Hq56NWY%ypPm+ac`Z6+P-5v6S3LSm zniYtWpWEUS82_<+Ydf` zJF@Ow)4$bYzR}UsApiK}rZ^pR{MLKOVjw&tBLgd_`uUOCWz~CQQ{~F14(85;Z}y(v zo!RVP|MPZ|tX+IXwcv);N~{OCVTf#=sRO>o-6_3~w-0$i(97-rS@?O!z~}G43qB)? z2*1ch{ZM${M!?lpku+VtB?eRSrh`Z}rnZUUiRY8hqZ!1}&S>KdbJQ+_-(*AU`nm%C z@q_y+rAhj5)t10_E#TG`HHIesod{z-F;zxRqtT-7I!_z^|T zPif3}@228nPh5FuiGhxeuI}Btrq#&5ng`qR&L>uD7c*aOsW%jc$_n)Yr%(5<9rZ`` zeZSdo{B-` z!xE>ox8fpeaS0`;0^x2&KGYxDv|nV5=iC1E`2NWBw|-G(-$0*AATol7F;*L>O5-VJ zT$}p?h+wh4SZ2DU>IH#{e%*segj`DP@Q3Kaz|eg6-1=js6S%3JJO&M%p$7x@=jN?^ zpRW*B7Jp(ML{4t4DZa7g_oz2~QT?^Ng{vLq0)oR+a_sCv zSL=&se(gIb<2346a6;22LJ|IGSzW-=G=Na-8h9)5f9b_}7Tj@x$;f{<2AN*bvYv^7 zp&0R^2k?C2*&)uOItoc)3{z$ov3VPR;cho1sR?mC~(ev~A zXY*b_Xm6$cwl2&_zva4LBmK3ZpEozlML4*%^;xTE@tG>4pDCbACJrza7Co5W)H&vf zI`|}b_ht#wA{r&bNnhyfIQ2y5kmtHz@n$YCbkPTkex$F(dna_;QGrYL%3B<^lDE&Z z<7H6z)@P%-_wSoMiw^~yqqf}#nbfNPzOJ#C@dwG9bNCtre8TM996WnaVvZh!sSJYR zE3rVPn`T791G9|tNjdV)Gg~%ZbVplsGOJlPiS15oRImW-?v^%(7U^)USJa-jqU@eS z!RR!T8lzcR*=KC+gMaAV+_kx3uvy-Pf1KO9pw_Q=@T*w6d1RYI``@xs_+EPB>>}Qq zj&epEn%oKnk9l`0hB+Xt+XN_W7Q_ks@LAxl(ppygdcMQ=7uFfUlc0GJ)uOZ^5@MR_ z7x3&5fDrP`i1^k&n+s}MTFu4%{TIGdA3b_hnyiN33EV3K?W?T3dSYMuI@-CS%U(7# z#RpVR_;E!R)X*bjLxdJbcD0zI={vURC3NI^vh&oaU{s1s!OWlWw|ZQ@mdg(eLH%Ls zSAG@+Oj+Ogh+g}-Y+$4!b<=%vDUnWhA;_t{WUi9z8J)xS;{=en&TMVH8sA8PhdpMQ z5}h*4gPEsUu%g#+D^eAw@*fL1j2i#?iPX2z{r6XlVJ(6U$2LTt&Xm5kJf?K8KWjlW z-f>fbh3UaLlMyef{MM%91*O`FB$L{p&NopahFs}7jvUK%!2vqqPZEyTk=O5K+6~k- zj2javCilU-F|)Radi%D2t@BB7w8DmHC(Q|aaz-G{4F?}p$MF+rxaQAn>})&t^>ERp zIBZPRm^VYp>mv>fYX4r^XN40~UV3sI{g7PO*eLiuxZY(;zhoGG!1}hocy@7Dt(Wl} zC{A&!?0@#eHhZ%5cvzqC=bgQvg97KMlo6lQ5ucH<2$%Nq2Z+b6Q;mDuRRIw}F=N;I zJdxatV$JrCSjPB108JBTtU#z5Uc2$;Pna-?(ix0FPVMGSk5t-)hKIKlAMMf=7FxPp zd~?C1o${F#vc$c+-u}PWxGBR5^C=ojS{b`OdR|7tSM&syOc0tr@8^vtuJV8T;?tP^ zu~Tz(GA3fwp!`#rbE|;z4-5(d(sf{po7Nw76!h%AbokNUas1FwR=ou5ktlSKZ|%2* zcGKqgB};jt!Kmo*g??R0gN+`O6NT^V{T>$6?7XR1NaMkx9p0YW7{0FF z*WbT$pCKg)<2%RE_}`I8`*Y+h=r?V_{=6?dZP%v~Ha1qLAw7{+o zQ~r6gC)Rv?Jplm$iBU%jQElOoClR!5-|$1kK{#VU-Ru4|mtc5;bJT&t_2M(LzmX{d zusGb=^Zi9~gB=7R=Gy|T;pqQnmrZrVNqJ0Ff9Sg4_u^35SOnykb?|y

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a/docs_versioned_docs/version-ros2jazzy/ros/config/yaml/sensors/lidar3d.mdx b/docs_versioned_docs/version-ros2jazzy/ros/config/yaml/sensors/lidar3d.mdx index ebe3cbb61..486a4a774 100644 --- a/docs_versioned_docs/version-ros2jazzy/ros/config/yaml/sensors/lidar3d.mdx +++ b/docs_versioned_docs/version-ros2jazzy/ros/config/yaml/sensors/lidar3d.mdx @@ -8,6 +8,7 @@ toc_max_heading_level: 4 import OusterLidar from "/docs_versioned_docs/version-ros2jazzy/components/yaml/sensors/ouster_os1.mdx"; import SeyondLidar from "/docs_versioned_docs/version-ros2jazzy/components/yaml/sensors/seyond_robin.mdx"; import VelodyneLidar from "/docs_versioned_docs/version-ros2jazzy/components/yaml/sensors/velodyne_lidar.mdx"; +import HesaiLidar from "/docs_versioned_docs/version-ros2jazzy/components/yaml/sensors/hesai_lidar.mdx"; Three dimensional LiDARs provide a pointcloud of all points detected by several planar scanners at various angles, which is published as a `sensor_msgs/PointCloud2` message. It is important to accurately position the LiDAR in the visual description of the robot to ensure that the scanned points are accurate with respect to the robot. @@ -21,3 +22,6 @@ Three dimensional LiDARs provide a pointcloud of all points detected by several ### Velodyne Lidar + +### Hesai Lidar +