zhuhaijun753 / hesailidar_general_sdk

Development Kit for PandarXT PandarQT Pandar64 Pandar40P Pandar40M Pandar20A Pandar20B

HesaiLidar_General_SDK

About the project

HesaiLidar_General_SDK project is the software development kit for: Pandar40P/Pandar64/Pandar20A/Pandar20B/PandarQT/Pandar40M/PandarXT LiDAR sensor manufactured by Hesai Technology.

Environment and Dependencies

System environment requirement: Linux + G++ 7.0 or above Library Dependencies: libpcap-dev + libyaml-cpp-dev

$ sudo apt install libpcap-dev libyaml-cpp-dev

Clone

$ git clone https://github.com/HesaiTechnology/HesaiLidar_General_SDK.git

Build

$ cd HesaiLidar_General_SDK
$ mkdir build
$ cd build
$ cmake ..
$ make

Add to your project

Cmake

add_subdirectory(<path_to>HesaiLidar_General_SDK)

include_directories(
	<path_to>HesaiLidar_General_SDK/include
	<path_to>HesaiLidar_General_SDK/src/PandarGeneralRaw/include
)

target_link_libraries(<Your project>
  PandarGeneralSDK
)

C++

#include "pandarGeneral_sdk/pandarGeneral_sdk.h"
// for Pandar40P
PandarGeneralSDK pandarGeneral(std::string("192.168.1.201"), 2368, 10110, \
    lidarCallback, gpsCallback, 0, 0, 1, std::string("Pandar40P"));
// for Pandar64
PandarGeneralSDK pandarGeneral(std::string("192.168.1.201"), 2368, 10110, \
    lidarCallback, gpsCallback, 0, 0, 1, std::string("Pandar64"));
// for Pandar20A
PandarGeneralSDK pandarGeneral(std::string("192.168.1.201"), 2368, 10110, \
    lidarCallback, gpsCallback, 0, 0, 1, std::string("Pandar20A"));
// for Pandar20B
PandarGeneralSDK pandarGeneral(std::string("192.168.1.201"), 2368, 10110, \
    lidarCallback, gpsCallback, 0, 0, 1, std::string("Pandar20B"));
// for PandarQT
PandarGeneralSDK pandarGeneral(std::string("192.168.1.201"), 2368, 10110, \
    lidarCallback, gpsCallback, 0, 0, 1, std::string("PandarQT"));
// for Pandar40M
PandarGeneralSDK pandarGeneral(std::string("192.168.1.201"), 2368, 10110, \
    lidarCallback, gpsCallback, 0, 0, 1, std::string("Pandar40M"));
// for PandarXT-32
PandarGeneralSDK pandarGeneral(std::string("192.168.1.201"), 2368, 10110, \
    lidarCallback, gpsCallback, 0, 0, 1, std::string("PandarXT-32"));
// for PandarXT-16
PandarGeneralSDK pandarGeneral(std::string("192.168.1.201"), 2368, 10110, \
    lidarCallback, gpsCallback, 0, 0, 1, std::string("PandarXT-16"));