禾赛激光雷达ROS2驱动配置与Docker部署指南

官方驱动库

https://github.com/HesaiTechnology/HesaiLidar_ROS_2.0

支持的雷达系列

• Pandar
• AT128/AT128P
• QT
• FT120
• XT16/XT32
• ET25/ET30
• OT
• ATX
• JT16
• JT128、JT256 (need define JT128_256)

配置方法

配置编译/运行环境

# 创建容器，注意网络和端口配置
docker run -it \
  --name hesai_lidar_driver \
  --network host \
  -v /path/to/your/workspace:/workspace \
  -v /dev:/dev \
  --privileged \
  osrf/ros:humble-desktop \
  /bin/bash

# 进入容器后
cd /workspace
mkdir -p src
cd src
 
# 克隆禾赛驱动代码
git clone --recurse-submodules https://github.com/HesaiTechnology/HesaiLidar_ROS_2.0.git
 
# 返回工作空间根目录
cd /workspace
 
# 编译
colcon build --symlink-install
 
# 设置环境变量
source install/local_setup.bash

配置雷达 config/config.yaml

lidar:
    - driver:
        udp_port: 2368                          # 激光雷达UDP端口
        ptc_port: 9347                          # PTC端口
        device_ip_address: 192.168.1.201        # 激光雷达IP地址
        source_type: 1                          # 实时连接
        # 其他配置保持默认或根据需要调整
    ros:
        ros_frame_id: hesai_lidar
        ros_send_point_cloud_topic: /lidar_points
        send_point_cloud_ros: true

启动驱动

ros2 launch hesai_ros_driver start.py

Docker Compose 方案（推荐）

docker-compose.yml:

version: '3.8'
services:
  hesai_driver:
    image: osrf/ros:humble-desktop
    container_name: hesai_lidar_driver
    network_mode: host
    privileged: true
    volumes:
      - ./workspace:/workspace
      - /dev:/dev
    working_dir: /workspace
    command: >
      bash -c "source /opt/ros/humble/setup.bash &&
               source install/local_setup.bash &&
               ros2 launch hesai_ros_driver start.py"
    restart: unless-stopped

以下命令都在包含 docker-compose.yml 文件的目录中执行：

• 启动

  docker-compose up -d

• 停止

  docker-compose stop 

• 停止并删除

  docker-compose down

• 重启服务

  docker-compose restart

• 查看服务状态

  # 查看服务运行状态
  docker-compose ps
   
  # 查看服务日志
  docker-compose logs hesai_driver
   
  # 实时跟踪日志
  docker-compose logs -f hesai_driver