Consistent frames for QT64 and XT32 lidars

CMakeLists.txt

@@ -1,17 +1,9 @@
 cmake_minimum_required(VERSION 3.0.2)
 project(hesai_description)
 
-find_package(catkin REQUIRED COMPONENTS
-  xacro
-)
-
-catkin_package(CATKIN_DEPENDS xacro)
-
-set(xacro_files
-  ${CMAKE_CURRENT_SOURCE_DIR}/urdf/hesai_standalone.urdf.xacro
-)
+find_package(catkin REQUIRED COMPONENTS)
 
-xacro_add_files(${xacro_files} INSTALL DESTINATION urdf)
+catkin_package()
 
 install(DIRECTORY config launch urdf
   DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}

README.md

@@ -1,6 +1,4 @@
 # hesai_description
-URDF Model of hesai lidar products
+This package contains a **URDF Xacro description of the Hesai XT32 and QT64 lidars**. In simulation the Gazebo Velodyne plug-in is used. The meshes were obtained from the original CAD provided by Hesai.
 
-The mesh was obtained from the original CAD provided by HESAI.
-
-This repository is not associated to or maintained by HESAI.
+This repository is not associated to or maintained by Hesai.

launch/load.launch

@@ -2,7 +2,8 @@
 
 <launch>
   <arg name="simulation" default="false" />
-  <arg name="model" default="$(find hesai_description)/urdf/hesai_standalone.urdf.xacro" />
+  <arg name="use_gpu" default="true" />
+  <arg name="model" default="$(find hesai_description)/urdf/hesai_qt64_standalone.urdf.xacro" />
 
-  <param name="robot_description" command="xacro $(arg model) simulation:=$(arg simulation)" />
+  <param name="robot_description" command="xacro $(arg model) simulation:=$(arg simulation) use_gpu:=$(arg use_gpu)" />
 </launch>

launch/view_urdf.launch

@@ -2,9 +2,11 @@
 <launch>
   <arg name="rviz" default="true" />
   <arg name="simulation" default="true" />
+  <arg name="use_gpu" default="true" />
 
   <include file="$(find hesai_description)/launch/load.launch">
     <arg name="simulation" value="$(arg simulation)"/>
+    <arg name="use_gpu" value="$(arg use_gpu)"/>
   </include>
 
   <node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" />

package.xml

@@ -10,5 +10,5 @@
   <license>Apache 2.0</license>
 
   <buildtool_depend>catkin</buildtool_depend>
-  <depend>xacro</depend>
+  <exec_depend>xacro</exec_depend>
 </package>

urdf/gazebo.urdf.xacro

@@ -0,0 +1,76 @@
+<?xml version="1.0"?>
+<robot xmlns:xacro="http://www.ros.org/wiki/xacro">
+
+<!-- Copyright 2024 University of Oxford
+
+   Licensed under the Apache License, Version 2.0 (the "License");
+   you may not use this file except in compliance with the License.
+   You may obtain a copy of the License at
+
+       http://www.apache.org/licenses/LICENSE-2.0
+
+   Unless required by applicable law or agreed to in writing, software
+   distributed under the License is distributed on an "AS IS" BASIS,
+   WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+   See the License for the specific language governing permissions and
+   limitations under the License.
+-->
+
+  <xacro:macro name="hesai_gazebo" params="lidar_frame:=pandar topic_name=/hesai/pandar
+               min_range:=0.4 max_range:=80.0 min_horizontal_angle:=-180.0 max_horizontal_angle:=180.0
+               min_vertical_angle:=-16.0 max_vertical_angle:=15.0 hz:=10 samples:=2000 lasers:=32
+               collision_range:=0.3 noise:=0.008 visualize:=false use_gpu:=true">
+
+    <gazebo reference="${lidar_frame}">
+      <xacro:if value="${use_gpu}">
+        <xacro:property name="ray_type" value="gpu_ray" />
+        <xacro:property name="laser_plugin" value="libgazebo_ros_velodyne_gpu_laser.so" />
+      </xacro:if>
+      <xacro:unless value="${use_gpu}">
+        <xacro:property name="ray_type" value="ray" />
+        <xacro:property name="laser_plugin" value="libgazebo_ros_velodyne_laser.so" />
+      </xacro:unless>
+
+      <sensor type="${ray_type}" name="hesai_sensor">
+        <pose>0 0 0 0 0 0</pose>
+        <visualize>${visualize}</visualize>
+        <update_rate>${hz}</update_rate>
+        <ray>
+          <scan>
+            <horizontal>
+              <samples>${samples}</samples>
+              <resolution>1</resolution>
+              <min_angle>${min_horizontal_angle*pi/180.0}</min_angle>
+              <max_angle>${max_horizontal_angle*pi/180.0}</max_angle>
+            </horizontal>
+            <vertical>
+              <samples>${lasers}</samples>
+              <resolution>1</resolution>
+              <min_angle>${min_vertical_angle*pi/180.0}</min_angle>
+              <max_angle>${max_vertical_angle*pi/180.0}</max_angle>
+            </vertical>
+          </scan>
+          <range>
+            <min>${collision_range}</min>
+            <max>${max_range+1}</max>
+            <resolution>0.001</resolution>
+          </range>
+          <noise>
+            <type>gaussian</type>
+            <mean>0.0</mean>
+            <stddev>0.0</stddev>
+          </noise>
+        </ray>
+
+        <plugin name="gazebo_ros_laser_controller" filename="${laser_plugin}">
+          <topicName>${topic_name}</topicName>
+          <frameName>${lidar_frame}</frameName> 
+          <min_range>${min_range}</min_range>
+          <max_range>${max_range}</max_range>
+          <gaussianNoise>${noise}</gaussianNoise>
+        </plugin>
+      </sensor>
+    </gazebo>
+  </xacro:macro>
+
+</robot>

urdf/hesai_qt64.urdf.xacro

@@ -0,0 +1,74 @@
+<?xml version="1.0"?>
+
+<!-- Copyright 2022 University of Oxford
+
+   Licensed under the Apache License, Version 2.0 (the "License");
+   you may not use this file except in compliance with the License.
+   You may obtain a copy of the License at
+
+       http://www.apache.org/licenses/LICENSE-2.0
+
+   Unless required by applicable law or agreed to in writing, software
+   distributed under the License is distributed on an "AS IS" BASIS,
+   WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+   See the License for the specific language governing permissions and
+   limitations under the License.
+-->
+
+
+<!-- Hesai PandarQT-64 Lidar Sensor -->
+<robot name="hesai_qt64" xmlns:xacro="http://www.ros.org/wiki/xacro">
+<xacro:arg name="simulation" default="false"/>
+<xacro:arg name="use_gpu" default="true"/>
+
+<xacro:macro name="hesai_qt64_device" params="parent *origin name:=pandar_xt32_lidar simulation:=false lidar_frame:=pandar use_gpu:=true">
+  <joint name="${parent}_to_hesai" type="fixed">
+    <xacro:insert_block name="origin"/>
+    <parent link="${parent}" />
+    <child link="hesai_base" />
+  </joint>
+  <link name="hesai_base">
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <!-- If mesh is not available: -->
+      <!--origin xyz="0 0 38.0e-3" rpy="0 0 0" /-->
+      <geometry>
+        <!-- If mesh is not available: -->
+        <!--cylinder radius="51.500e-3" length="76.0e-3" /-->
+        <mesh filename="package://hesai_description/urdf/meshes/PandarQT64_model.dae" />
+      </geometry>
+    </visual>
+    <inertial>
+      <!-- CoM taken from CAD assuming constant density and mass 0.807 (best approximation available to real mass) -->
+      <origin xyz="-0.015e-3 0.0 37.494e-3" rpy="0 0 0" />
+      <!-- mass taken from Hesai datasheet -->
+      <mass value="0.807" />
+      <!-- Inertia tensor from CAD assuming constant density and mass 0.807 (best approximation vailable to real mass) -->
+      <inertia ixx="886.81e-6" ixy="5.802e-11" ixz="-0.34e-6" iyy="898.12e-6" iyz="-0.014e-6" izz="1004.287e-6" />
+    </inertial>
+    <collision>
+      <origin xyz="0 0 38.0e-3"/>
+      <geometry>
+        <cylinder radius="51.500e-3" length="76.0e-3" />
+      </geometry>
+    </collision>
+  </link>
+  <link name="${lidar_frame}"/>
+  <joint name="hesai_base_to_pandar" type="fixed">
+    <!-- See page 12 of QT64 User Manual -->
+    <!-- note that the X axis points left. See manual page 11 -->
+    <origin xyz="0.0 0.0 50.4e-3" rpy="0.0 0.0 ${pi/2}"/>
+    <parent link="hesai_base"/>
+    <child link="${lidar_frame}" />
+  </joint>
+
+  <xacro:if value="${simulation}">
+    <xacro:include filename="$(find hesai_description)/urdf/gazebo.urdf.xacro"/>
+    <xacro:hesai_gazebo lidar_frame="${lidar_frame}" topic_name="/hesai/pandar" min_range="0.1" max_range="20.0" 
+      min_horizontal_angle="-180.0" max_horizontal_angle="180.0" min_vertical_angle="-52.1" max_vertical_angle="52.1"
+      hz="10" samples="600" lasers="64" collision_range="0.3" noise="0.008" use_gpu="${use_gpu}"
+    />
+  </xacro:if>
+</xacro:macro>
+
+</robot>

urdf/hesai_standalone.urdf.xacro → urdf/hesai_qt64_standalone.urdf.xacro

@@ -15,13 +15,14 @@
    limitations under the License. -->
 
 <robot name="hesai" xmlns:xacro="http://www.ros.org/wiki/xacro">
-  <xacro:include filename="$(find hesai_description)/urdf/hesai.urdf.xacro" />
+  <xacro:include filename="$(find hesai_description)/urdf/hesai_qt64.urdf.xacro" />
   <xacro:arg name="simulation" default="false" />
+  <xacro:arg name="use_gpu" default="true" />
 
   <!-- Dummy link  -->
   <link name="base"/>
 
-  <xacro:hesai_device parent="base" simulation="$(arg simulation)">
+  <xacro:hesai_qt64_device parent="base" simulation="$(arg simulation)" use_gpu="$(arg use_gpu)" >
     <origin xyz="0 0 0" rpy="0 0 0" />
-  </xacro:hesai_device>
+  </xacro:hesai_qt64_device>
 </robot>

urdf/hesai.urdf.xacro → urdf/hesai_xt32.urdf.xacro

@@ -17,10 +17,11 @@
 
 
 <!-- Hesai PandarXT-32 Lidar Sensor -->
-<robot name="hesai" xmlns:xacro="http://www.ros.org/wiki/xacro">
+<robot name="hesai_xt32" xmlns:xacro="http://www.ros.org/wiki/xacro">
 <xacro:arg name="simulation" default="false" />
+<xacro:arg name="use_gpu" default="true"/>
 
-<xacro:macro name="hesai_device" params="parent *origin name:=pandar_xt32_lidar simulation:=false lidar_frame:=pandar">
+<xacro:macro name="hesai_xt32_device" params="parent *origin name:=pandar_xt32_lidar simulation:=false lidar_frame:=pandar use_gpu:=true">
   <joint name="${parent}_to_hesai" type="fixed">
     <xacro:insert_block name="origin"/>
     <parent link="${parent}" />
@@ -54,14 +55,20 @@
   </link>
   <link name="${lidar_frame}"/>
   <joint name="hesai_base_to_pandar" type="fixed">
-    <!-- See page 12 of User Manual -->
+    <!-- See page 12 of XT64 User Manual -->
     <!-- note that the X axis points left. See manual page 11 -->
-    <origin xyz="0.0 0.0 50.4e-3" rpy="0.0 0.0 0.0"/>
+    <origin xyz="0.0 0.0 46.4e-3" rpy="0.0 0.0 ${pi/2}"/>
     <parent link="hesai_base"/>
     <child link="${lidar_frame}" />
   </joint>
 
-  <!-- TODO implement gazebo plugin loading if simulation is true -->
+  <xacro:if value="${simulation}">
+    <xacro:include filename="$(find hesai_description)/urdf/gazebo.urdf.xacro"/>
+    <xacro:hesai_gazebo lidar_frame="${lidar_frame}" topic_name="/hesai/pandar" min_range="0.4" max_range="80.0" 
+      min_horizontal_angle="-180.0" max_horizontal_angle="180.0" min_vertical_angle="-16.0" max_vertical_angle="15.0"
+      hz="10" samples="2000" lasers="32" collision_range="0.3" noise="0.008" use_gpu="${use_gpu}"
+    />
+  </xacro:if>
 </xacro:macro>
 
 </robot>

urdf/hesai_xt32_standalone.urdf.xacro

@@ -0,0 +1,28 @@
+<?xml version="1.0"?>
+
+<!-- Copyright 2022 University of Oxford
+
+   Licensed under the Apache License, Version 2.0 (the "License");
+   you may not use this file except in compliance with the License.
+   You may obtain a copy of the License at
+
+       http://www.apache.org/licenses/LICENSE-2.0
+
+   Unless required by applicable law or agreed to in writing, software
+   distributed under the License is distributed on an "AS IS" BASIS,
+   WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+   See the License for the specific language governing permissions and
+   limitations under the License. -->
+
+<robot name="hesai" xmlns:xacro="http://www.ros.org/wiki/xacro">
+  <xacro:include filename="$(find hesai_description)/urdf/hesai_xt32.urdf.xacro" />
+  <xacro:arg name="simulation" default="false" />
+  <xacro:arg name="use_gpu" default="true" />
+
+  <!-- Dummy link  -->
+  <link name="base"/>
+
+  <xacro:hesai_xt32_device parent="base" simulation="$(arg simulation)" use_gpu="$(arg use_gpu)" >
+    <origin xyz="0 0 0" rpy="0 0 0" />
+  </xacro:hesai_xt32_device>
+</robot>