[RENDU][ROS2][feat] Add Hesai Lidar support

Group Member

annabelle.chevreau
valentin.chassignol
lise.giraud
florian.reimat

Goal

Adding the support of the Hesai Pandar family Lidars to SLAM.

Changes

• Added a new node for Hesai pointcloud to Lidar pointcloud conversion.
• Added a new launch file for Hesai Lidars to support the drivers and a basic pipeline
• Added a custom configuration for the SLAM in order to get the best results.

Results

Commands to reproduce the results

1. colcon build --base-paths slam/ros2_wrapping --cmake-args -DCMAKE_BUILD_TYPE=Release
2. ros2 launch lidar_slam slam_hesai.py outdoor:=true
3. ros2 bag play --clock path/to/this_bag.bag

As we can see, SLAM can actually process the output from the Hesai sensor and use it in a complex pipeline.

However, we still see one big issue which is SLAM does not properly create the map.
I suspect the motion estimation is incorrect because of a wrong config file but we cannot make it working.

Here is some things to do in order to be ready to ship:

What remains to solve

• Clean up git history
• Correctly configure slam config for Hesai
• Add ROS 1 support
• Make keypoint extraction better in order to detect the motion
• Fully Integrate the driver in the pipeline (there is missing parameters that can be specified)