Nebula Hesai, beta version.

.clang-format

@@ -0,0 +1,44 @@
+---
+# Modified from https://github.com/ament/ament_lint/blob/master/ament_clang_format/ament_clang_format/configuration/.clang-format
+Language: Cpp
+BasedOnStyle: Google
+
+AccessModifierOffset: -2
+AlignAfterOpenBracket: AlwaysBreak
+BraceWrapping:
+  AfterClass: true
+  AfterFunction: true
+  AfterNamespace: true
+  AfterStruct: true
+BreakBeforeBraces: Custom
+ColumnLimit: 100
+ConstructorInitializerIndentWidth: 0
+ContinuationIndentWidth: 2
+DerivePointerAlignment: false
+PointerAlignment: Middle
+ReflowComments: true
+IncludeCategories:
+  # C++ system headers
+  - Regex: "<[a-z_]*>"
+    Priority: 6
+    CaseSensitive: true
+  # C system headers
+  - Regex: '<.*\.h>'
+    Priority: 5
+    CaseSensitive: true
+  # Boost headers
+  - Regex: "boost/.*"
+    Priority: 4
+    CaseSensitive: true
+  # Message headers
+  - Regex: ".*_msgs/.*"
+    Priority: 3
+    CaseSensitive: true
+  # Other Package headers
+  - Regex: "<.*>"
+    Priority: 2
+    CaseSensitive: true
+  # Local package headers
+  - Regex: '".*"'
+    Priority: 1
+    CaseSensitive: true

README.md

@@ -1,2 +1,5 @@
-# ros2-project-template
-Project template for ROS2
+# Nebula Lidar Driver
+
+![DriverOrganization](doc/diagram.png)
+
+

build_depends.repos

@@ -0,0 +1 @@
+repositories:

messages/hesai_msgs/CMakeLists.txt

@@ -0,0 +1,30 @@
+cmake_minimum_required(VERSION 3.5)
+project(pandar_msgs)
+
+if (NOT CMAKE_CXX_STANDARD)
+    set(CMAKE_CXX_STANDARD 14)
+    set(CMAKE_CXX_STANDARD_REQUIRED ON)
+    set(CMAKE_CXX_EXTENSIONS OFF)
+endif ()
+
+if (CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
+    add_compile_options(-Wall -Wextra -Wpedantic)
+endif ()
+
+find_package(ament_cmake_auto REQUIRED)
+ament_auto_find_build_dependencies()
+
+rosidl_generate_interfaces(${PROJECT_NAME}
+        "msg/PandarPacket.msg"
+        "msg/PandarScan.msg"
+        "msg/PandarJumboPacket.msg"
+        DEPENDENCIES
+        std_msgs
+        )
+
+if (BUILD_TESTING)
+    find_package(ament_lint_auto REQUIRED)
+    ament_lint_auto_find_test_dependencies()
+endif ()
+
+ament_package()

messages/hesai_msgs/msg/PandarJumboPacket.msg

@@ -0,0 +1,3 @@
+builtin_interfaces/Time stamp
+uint8[] data
+uint32 size

messages/hesai_msgs/msg/PandarPacket.msg

@@ -0,0 +1,3 @@
+builtin_interfaces/Time stamp
+uint8[1500] data
+uint32 size

messages/hesai_msgs/msg/PandarScan.msg

@@ -0,0 +1,2 @@
+std_msgs/Header header
+PandarPacket[] packets

messages/hesai_msgs/package.xml

@@ -0,0 +1,25 @@
+<?xml version="1.0"?>
+<package format="3">
+    <name>pandar_msgs</name>
+    <version>0.0.0</version>
+    <description>ROS message definition for the Heisai PandarQT/Pandar64/Pandar40P/Pandar20A/Pandar20B/Pandar40M LiDAR
+        sensor.
+    </description>
+    <maintainer email="shinnosuke.hirakawa@tier4.jp">hirakawa</maintainer>
+    <license>Apache 2</license>
+
+    <buildtool_depend>ament_cmake</buildtool_depend>
+    <buildtool_depend>rosidl_default_generators</buildtool_depend>
+
+    <depend>std_msgs</depend>
+    <exec_depend>rosidl_default_runti)me</exec_depend>
+    <member_of_group>rosidl_interface_packages</member_of_group>
+
+    <test_depend>ament_lint_auto</test_depend>
+    <test_depend>ament_lint_common</test_depend>
+
+    <export>
+        <build_type>ament_cmake</build_type>
+    </export>
+
+</package>

messages/livox_msgs/CMakeLists.txt

@@ -0,0 +1,31 @@
+cmake_minimum_required(VERSION 3.5)
+project(livox_msgs)
+
+# Default to C++14
+if(NOT CMAKE_CXX_STANDARD)
+  set(CMAKE_CXX_STANDARD 14)
+endif()
+
+if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
+  add_compile_options(-Wall -Wextra -Wpedantic)
+endif()
+
+find_package(ament_cmake REQUIRED)
+find_package(builtin_interfaces REQUIRED)
+find_package(rosidl_default_generators REQUIRED)
+find_package(std_msgs REQUIRED)
+
+rosidl_generate_interfaces(${PROJECT_NAME}
+  "msg/LidarPacket.msg"
+  "msg/LidarScan.msg"
+  DEPENDENCIES std_msgs
+  DEPENDENCIES builtin_interfaces
+  #ADD_LINTER_TESTS
+)
+
+#if(BUILD_TESTING)
+#  find_package(ament_lint_auto REQUIRED)
+#  ament_lint_auto_find_test_dependencies()
+#endif()
+
+ament_package()

messages/livox_msgs/msg/LidarPacket.msg

@@ -0,0 +1,8 @@
+# Raw LIDAR packet.
+
+#time stamp
+builtin_interfaces/Time stamp
+uint8[] data # support for Jumbo frames
+uint32 size # data[] size
+uint64 time_stamp
+int32 point_num

messages/livox_msgs/msg/LidarScan.msg

@@ -0,0 +1,4 @@
+# Raw LIDAR scan.
+
+std_msgs/Header header
+LidarPacket[] packets

messages/livox_msgs/package.xml

@@ -0,0 +1,20 @@
+<?xml version="1.0"?>
+<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
+<package format="3">
+    <name>livox_msgs</name>
+    <version>0.1.0</version>
+    <description>ROS message definitions for Livox Horizon.</description>
+    <maintainer email="sample@example.com">sample.test</maintainer>
+    <license>Apache License 2.0</license>
+
+    <buildtool_depend>ament_cmake</buildtool_depend>
+    <buildtool_depend>rosidl_default_generators</buildtool_depend>
+
+    <exec_depend>rosidl_default_runtime</exec_depend>
+
+    <member_of_group>rosidl_interface_packages</member_of_group>
+
+    <export>
+        <build_type>ament_cmake</build_type>
+    </export>
+</package>

nebula_drivers/CMakeLists.txt

@@ -0,0 +1,61 @@
+cmake_minimum_required(VERSION 3.5)
+project(nebula_lidar_driver)
+
+# Default to C++14
+if (NOT CMAKE_CXX_STANDARD)
+    set(CMAKE_CXX_STANDARD 14)
+endif ()
+
+if (CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
+    add_compile_options(-Wall -Wextra -Wpedantic -Wunused-function)
+endif ()
+
+find_package(ament_cmake_auto REQUIRED)
+find_package(PCL REQUIRED COMPONENTS common)
+find_package(PCL REQUIRED)
+find_package(pcl_conversions REQUIRED)
+
+ament_auto_find_build_dependencies()
+
+include_directories(
+        include
+        ${PCL_INCLUDE_DIRS}
+        ${PCL_COMMON_INCLUDE_DIRS}
+)
+
+# HwInterfaces Lib
+ament_auto_add_library(hesai_hw_interface SHARED
+        ${CMAKE_CURRENT_SOURCE_DIR}/src/hesai/hesai_hw_interface.cpp
+        )
+# RosHWInterface
+ament_auto_add_library(hesai_hw_ros_wrapper SHARED
+        ${CMAKE_CURRENT_SOURCE_DIR}/src/hesai/hesai_hw_interface_ros_wrapper.cpp
+        )
+ament_auto_add_executable(hesai_hw_ros_wrapper_node
+        ${CMAKE_CURRENT_SOURCE_DIR}/src/hesai/hesai_hw_interface_ros_main.cpp
+        )
+
+# RosDriver Lib
+ament_auto_add_library(hesai_driver SHARED
+        ${CMAKE_CURRENT_SOURCE_DIR}/src/hesai/hesai_driver.cpp
+        ${CMAKE_CURRENT_SOURCE_DIR}/src/hesai/decoders/pandar_40_decoder.cpp
+        ${CMAKE_CURRENT_SOURCE_DIR}/src/hesai/decoders/pandar_64_decoder.cpp
+        ${CMAKE_CURRENT_SOURCE_DIR}/src/hesai/decoders/pandar_qt_decoder.cpp
+        ${CMAKE_CURRENT_SOURCE_DIR}/src/hesai/decoders/pandar_xt_decoder.cpp
+        )
+
+# RosDriverNode
+ament_auto_add_library(hesai_driver_ros_wrapper SHARED
+        ${CMAKE_CURRENT_SOURCE_DIR}/src/hesai/hesai_driver_ros_wrapper.cpp
+        )
+ament_auto_add_executable(hesai_driver_ros_wrapper_node
+        ${CMAKE_CURRENT_SOURCE_DIR}/src/hesai/hesai_driver_ros_main.cpp
+        )
+
+ament_auto_package(
+        INSTALL_TO_SHARE
+        launch
+        calibration
+        config
+)
+

nebula_drivers/calibration/hesai/Pandar40P.csv

@@ -0,0 +1,41 @@
+Laser id,Elevation,Azimuth
+1,14.794,-1.042
+2,10.944,-1.042
+3,7.971,-1.042
+4,4.969,-1.042
+5,2.952,-1.042
+6,1.94,-1.042
+7,1.6,3.125
+8,1.263,-5.208
+9,0.925,-1.042
+10,0.587,3.125
+11,0.249,-5.208
+12,-0.088,-1.042
+13,-0.425,3.125
+14,-0.763,-5.208
+15,-1.101,-1.042
+16,-1.439,3.125
+17,-1.776,-5.208
+18,-2.116,-1.042
+19,-2.453,3.125
+20,-2.788,-5.208
+21,-3.128,-1.042
+22,-3.463,3.125
+23,-3.8,-5.208
+24,-4.138,-1.042
+25,-4.473,3.125
+26,-4.808,-5.208
+27,-5.145,-1.042
+28,-5.479,3.125
+29,-5.814,-5.208
+30,-6.149,-1.042
+31,-7.151,-1.042
+32,-8.147,-1.042
+33,-9.148,-1.042
+34,-10.133,-1.042
+35,-11.12,-1.042
+36,-12.094,-1.042
+37,-13.062,-1.042
+38,-14.018,-1.042
+39,-18.977,-1.042
+40,-24.985,-1.042

nebula_drivers/calibration/hesai/Pandar64.csv

@@ -0,0 +1,65 @@
+Laser id,Elevation,Azimuth
+1,14.9,-1.042
+2,11.05,-1.042
+3,8.077,-1.042
+4,5.075,-1.042
+5,3.058,-1.042
+6,2.046,-1.042
+7,1.878,1.042
+8,1.706,3.125
+9,1.54,5.208
+10,1.369,-5.208
+11,1.202,-3.125
+12,1.031,-1.042
+13,0.864,1.042
+14,0.693,3.125
+15,0.526,5.208
+16,0.355,-5.208
+17,0.187,-3.125
+18,0.018,-1.042
+19,-0.151,1.042
+20,-0.319,3.125
+21,-0.49,5.208
+22,-0.657,-5.208
+23,-0.827,-3.125
+24,-0.995,-1.042
+25,-1.166,1.042
+26,-1.333,3.125
+27,-1.504,5.208
+28,-1.67,-5.208
+29,-1.842,-3.125
+30,-2.01,-1.042
+31,-2.18,1.042
+32,-2.347,3.125
+33,-2.518,5.208
+34,-2.682,-5.208
+35,-2.855,-3.125
+36,-3.022,-1.042
+37,-3.192,1.042
+38,-3.357,3.125
+39,-3.53,5.208
+40,-3.694,-5.208
+41,-3.866,-3.125
+42,-4.032,-1.042
+43,-4.203,1.042
+44,-4.367,3.125
+45,-4.54,5.208
+46,-4.702,-5.208
+47,-4.874,-3.125
+48,-5.039,-1.042
+49,-5.211,1.042
+50,-5.373,3.125
+51,-5.547,5.208
+52,-5.708,-5.208
+53,-5.88,-3.125
+54,-6.043,-1.042
+55,-7.045,-1.042
+56,-8.041,-1.042
+57,-9.042,-1.042
+58,-10.027,-1.042
+59,-11.014,-1.042
+60,-11.988,-1.042
+61,-12.956,-1.042
+62,-13.912,-1.042
+63,-18.871,-1.042
+64,-24.879,-1.042