[RENDU]: [FEAT][ROS2] Hesai conversion for Slam

Authors

Raphaël André, Adam Mammar, Nicolas Boganski

Features

Implement a conversion for Hesai pandar to be correctly played in SLAM.

Changes

In ros2_wrapping/lidar_conversions :

• New ros2_wrapping/lidar_conversions/external_include/hesai_point.h describing a Hesai pandar point type.
• New ros2_wrapping/lidar_conversions/src/HesaiToLidarNode.cxx/hh translating Hesai points to Slame ones.
  • Associated CMakeLists.txt changes to build it.
• New ros2_wrapping/lidar_slam/launch/slam_hesai.py, a launch file for Hesai bags.
• New ros2_wrapping/lidar_slam/params/hesai_driver_parameters.yaml config file for hesai driver.

Results

Commands to reproduce results

• Build the project
• Launch the Hesai Launchfile:

  ros2 launch lidar_slam slam_hesai.py outdoor:=true

• Launch the bag:

  ros2 bag play --clock path/to/this_bag.bag

Results

Here is a screenshot of the SLAM results when playing an Hesai bag

We can now play the bag on the SLAM which wasn't possible before.