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Class nebula::drivers::HesaiHwInterface

ClassList > nebula > drivers > HesaiHwInterface

Hardware interface of hesai driver.

  • #include <hesai_hw_interface.hpp>

Public Functions

Type Name
HesaiStatus CheckAndSetConfig (std::shared_ptr< const HesaiSensorConfiguration > sensor_configuration, std::shared_ptr< HesaiConfigBase > hesai_config)
Checking the current settings and changing the difference point.
HesaiStatus CheckAndSetConfig (std::shared_ptr< const HesaiSensorConfiguration > sensor_configuration, HesaiLidarRangeAll hesai_lidar_range_all)
Checking the current settings and changing the difference point.
HesaiStatus CheckAndSetConfig ()
Checking the current settings and changing the difference point.
Status FinalizeTcpDriver ()
Closes the TcpDriver and related resources.
Status GetCalibrationConfiguration (CalibrationConfigurationBase & calibration_configuration)
Printing calibration configuration.
std::shared_ptr< HesaiConfigBase > GetConfig ()
Getting data with PTC_COMMAND_GET_CONFIG_INFO.
std::shared_ptr< boost::asio::io_context > GetIOContext ()
GetIO Context.
std::shared_ptr< HesaiInventoryBase > GetInventory ()
Getting data with PTC_COMMAND_GET_INVENTORY_INFO.
std::vector< uint8_t > GetLidarCalibrationBytes ()
Getting data with PTC_COMMAND_GET_LIDAR_CALIBRATION.
std::string GetLidarCalibrationString ()
Getting data with PTC_COMMAND_GET_LIDAR_CALIBRATION.
HesaiLidarMonitor GetLidarMonitor ()
Getting data with PTC_COMMAND_LIDAR_MONITOR.
HesaiStatus GetLidarMonitorAsyncHttp (std::shared_ptr< boost::asio::io_context > ctx, std::function< void(const std::string &str)> str_callback)
Getting lidar_monitor via HTTP API.
HesaiStatus GetLidarMonitorAsyncHttp (std::function< void(const std::string &str)> str_callback)
Getting lidar_monitor via HTTP API.
HesaiLidarRangeAll GetLidarRange ()
Getting values with PTC_COMMAND_GET_LIDAR_RANGE.
std::shared_ptr< HesaiLidarStatusBase > GetLidarStatus ()
Getting data with PTC_COMMAND_GET_LIDAR_STATUS.
HesaiPtpConfig GetPtpConfig ()
Getting data with PTC_COMMAND_GET_PTP_CONFIG.
HesaiPtpDiagGrandmaster GetPtpDiagGrandmaster ()
Getting data with PTC_COMMAND_PTP_DIAGNOSTICS (PTP TLV GRANDMASTER_SETTINGS_NP)
HesaiPtpDiagPort GetPtpDiagPort ()
Getting data with PTC_COMMAND_PTP_DIAGNOSTICS (PTP TLV PORT_DATA_SET)
HesaiPtpDiagStatus GetPtpDiagStatus ()
Getting data with PTC_COMMAND_PTP_DIAGNOSTICS (PTP STATUS)
HesaiPtpDiagTime GetPtpDiagTime ()
Getting data with PTC_COMMAND_PTP_DIAGNOSTICS (PTP TLV TIME_STATUS_NP)
Status GetSensorConfiguration (const SensorConfigurationBase & sensor_configuration)
Printing sensor configuration.
HesaiHwInterface ()
Constructor.
void IOContextRun ()
Call run() of IO Context.
Status InitializeTcpDriver ()
Initializing tcp_driver for TCP communication.
int NebulaModelToHesaiModelNo (nebula::drivers::SensorModel model)
Convert to model in Hesai protocol from nebula::drivers::SensorModel.
boost::property_tree::ptree ParseJson (const std::string & str)
Parsing json string to property_tree.
void ReceiveSensorPacketCallback (std::vector< uint8_t > & buffer)
Callback function to receive the Cloud Packet data from the UDP Driver.
Status RegisterScanCallback (std::function< void(std::vector< uint8_t > &)> scan_callback)
Registering callback for PandarScan.
Status SendReset ()
Sending command with PTC_COMMAND_RESET.
Status SensorInterfaceStart ()
Starting the interface that handles UDP streams.
Status SensorInterfaceStop ()
Function for stopping the interface that handles UDP streams.
Status SetClockSource (int clock_source)
Status SetControlPort (int ip_1, int ip_2, int ip_3, int ip_4, int mask_1, int mask_2, int mask_3, int mask_4, int gateway_1, int gateway_2, int gateway_3, int gateway_4, int vlan_flg, int vlan_id)
Setting IP with PTC_COMMAND_SET_CONTROL_PORT.
Status SetDestinationIp (int dest_ip_1, int dest_ip_2, int dest_ip_3, int dest_ip_4, int port, int gps_port)
Setting IP with PTC_COMMAND_SET_DESTINATION_IP.
Status SetLidarRange (int method, std::vector< unsigned char > data)
Setting values with PTC_COMMAND_SET_LIDAR_RANGE.
Status SetLidarRange (int start, int end)
Setting values with PTC_COMMAND_SET_LIDAR_RANGE.
void SetLogger (std::shared_ptr< rclcpp::Logger > node)
Setting rclcpp::Logger.
Status SetPtpConfig (int profile, int domain, int network, int switch_type, int logAnnounceInterval=1, int logSyncInterval=1, int logMinDelayReqInterval=0)
Setting values with PTC_COMMAND_SET_PTP_CONFIG.
HesaiStatus SetPtpConfigSyncHttp (std::shared_ptr< boost::asio::io_context > ctx, int profile, int domain, int network, int logAnnounceInterval, int logSyncInterval, int logMinDelayReqInterval)
HesaiStatus SetPtpConfigSyncHttp (int profile, int domain, int network, int logAnnounceInterval, int logSyncInterval, int logMinDelayReqInterval)
Status SetReturnMode (int return_mode)
Setting mode with PTC_COMMAND_SET_RETURN_MODE.
Status SetRotDir (int mode)
Setting values with PTC_COMMAND_SET_ROTATE_DIRECTION.
Status SetSensorConfiguration (std::shared_ptr< const SensorConfigurationBase > sensor_configuration)
Setting sensor configuration.
Status SetSpinRate (uint16_t rpm)
Setting value with PTC_COMMAND_SET_SPIN_RATE.
HesaiStatus SetSpinSpeedAsyncHttp (std::shared_ptr< boost::asio::io_context > ctx, uint16_t rpm)
Setting spin_speed via HTTP API.
HesaiStatus SetSpinSpeedAsyncHttp (uint16_t rpm)
Setting spin_speed via HTTP API.
Status SetStandbyMode (int standby_mode)
Setting mode with PTC_COMMAND_SET_STANDBY_MODE.
Status SetSyncAngle (int sync_angle, int angle)
Setting value with PTC_COMMAND_SET_SYNC_ANGLE.
HesaiStatus SetSyncAngleSyncHttp (std::shared_ptr< boost::asio::io_context > ctx, int enable, int angle)
HesaiStatus SetSyncAngleSyncHttp (int enable, int angle)
void SetTargetModel (int model)
Set target model number (for proper use of HTTP and TCP according to the support of the target model)
void SetTargetModel (nebula::drivers::SensorModel model)
Set target model number (for proper use of HTTP and TCP according to the support of the target model)
Status SetTriggerMethod (int trigger_method)
Setting mode with PTC_COMMAND_SET_TRIGGER_METHOD.
bool UseHttpGetLidarMonitor (int model)
Whether to use HTTP for getting LidarMonitor.
bool UseHttpGetLidarMonitor ()
Whether to use HTTP for getting LidarMonitor.
bool UseHttpSetSpinRate (int model)
Whether to use HTTP for setting SpinRate.
bool UseHttpSetSpinRate ()
Whether to use HTTP for setting SpinRate.
Status checkAndSetLidarRange (const HesaiCalibrationConfigurationBase & calibration)
Given the HW interface's sensor configuration and a given calibration, set the sensor FoV (min and max angles) with appropriate padding around the FoV set in the configuration. This compensates for the points lost due to the sensor filtering FoV by raw encoder angle.
~HesaiHwInterface ()
Destructor.

Public Functions Documentation

function CheckAndSetConfig [1/3]

Checking the current settings and changing the difference point.

HesaiStatus nebula::drivers::HesaiHwInterface::CheckAndSetConfig (
    std::shared_ptr< const HesaiSensorConfiguration > sensor_configuration,
    std::shared_ptr< HesaiConfigBase > hesai_config
) 

Parameters:

  • sensor_configuration Current SensorConfiguration
  • hesai_config Current HesaiConfig

Returns:

Resulting status


function CheckAndSetConfig [2/3]

Checking the current settings and changing the difference point.

HesaiStatus nebula::drivers::HesaiHwInterface::CheckAndSetConfig (
    std::shared_ptr< const HesaiSensorConfiguration > sensor_configuration,
    HesaiLidarRangeAll hesai_lidar_range_all
) 

Parameters:

  • sensor_configuration Current SensorConfiguration
  • hesai_lidar_range_all Current HesaiLidarRangeAll

Returns:

Resulting status


function CheckAndSetConfig [3/3]

Checking the current settings and changing the difference point.

HesaiStatus nebula::drivers::HesaiHwInterface::CheckAndSetConfig () 

Returns:

Resulting status


function FinalizeTcpDriver

Closes the TcpDriver and related resources.

Status nebula::drivers::HesaiHwInterface::FinalizeTcpDriver () 

Returns:

Status result


function GetCalibrationConfiguration

Printing calibration configuration.

Status nebula::drivers::HesaiHwInterface::GetCalibrationConfiguration (
    CalibrationConfigurationBase & calibration_configuration
) 

Parameters:

  • calibration_configuration CalibrationConfiguration for the checking

Returns:

Resulting status


function GetConfig

Getting data with PTC_COMMAND_GET_CONFIG_INFO.

std::shared_ptr< HesaiConfigBase > nebula::drivers::HesaiHwInterface::GetConfig () 

Returns:

Resulting status


function GetIOContext

GetIO Context.

std::shared_ptr< boost::asio::io_context > nebula::drivers::HesaiHwInterface::GetIOContext () 

Returns:

IO Context


function GetInventory

Getting data with PTC_COMMAND_GET_INVENTORY_INFO.

std::shared_ptr< HesaiInventoryBase > nebula::drivers::HesaiHwInterface::GetInventory () 

Returns:

Resulting status


function GetLidarCalibrationBytes

Getting data with PTC_COMMAND_GET_LIDAR_CALIBRATION.

std::vector< uint8_t > nebula::drivers::HesaiHwInterface::GetLidarCalibrationBytes () 

Returns:

Resulting status


function GetLidarCalibrationString

Getting data with PTC_COMMAND_GET_LIDAR_CALIBRATION.

std::string nebula::drivers::HesaiHwInterface::GetLidarCalibrationString () 

Returns:

Resulting status


function GetLidarMonitor

Getting data with PTC_COMMAND_LIDAR_MONITOR.

HesaiLidarMonitor nebula::drivers::HesaiHwInterface::GetLidarMonitor () 

Returns:

Resulting status


function GetLidarMonitorAsyncHttp [1/2]

Getting lidar_monitor via HTTP API.

HesaiStatus nebula::drivers::HesaiHwInterface::GetLidarMonitorAsyncHttp (
    std::shared_ptr< boost::asio::io_context > ctx,
    std::function< void(const std::string &str)> str_callback
) 

Parameters:

  • ctx IO Context
  • str_callback Callback function for received string

Returns:

Resulting status


function GetLidarMonitorAsyncHttp [2/2]

Getting lidar_monitor via HTTP API.

HesaiStatus nebula::drivers::HesaiHwInterface::GetLidarMonitorAsyncHttp (
    std::function< void(const std::string &str)> str_callback
) 

Parameters:

  • str_callback Callback function for received string

Returns:

Resulting status


function GetLidarRange

Getting values with PTC_COMMAND_GET_LIDAR_RANGE.

HesaiLidarRangeAll nebula::drivers::HesaiHwInterface::GetLidarRange () 

Returns:

Resulting status


function GetLidarStatus

Getting data with PTC_COMMAND_GET_LIDAR_STATUS.

std::shared_ptr< HesaiLidarStatusBase > nebula::drivers::HesaiHwInterface::GetLidarStatus () 

Returns:

Resulting status


function GetPtpConfig

Getting data with PTC_COMMAND_GET_PTP_CONFIG.

HesaiPtpConfig nebula::drivers::HesaiHwInterface::GetPtpConfig () 

Returns:

Resulting status


function GetPtpDiagGrandmaster

Getting data with PTC_COMMAND_PTP_DIAGNOSTICS (PTP TLV GRANDMASTER_SETTINGS_NP)

HesaiPtpDiagGrandmaster nebula::drivers::HesaiHwInterface::GetPtpDiagGrandmaster () 

Returns:

Resulting status


function GetPtpDiagPort

Getting data with PTC_COMMAND_PTP_DIAGNOSTICS (PTP TLV PORT_DATA_SET)

HesaiPtpDiagPort nebula::drivers::HesaiHwInterface::GetPtpDiagPort () 

Returns:

Resulting status


function GetPtpDiagStatus

Getting data with PTC_COMMAND_PTP_DIAGNOSTICS (PTP STATUS)

HesaiPtpDiagStatus nebula::drivers::HesaiHwInterface::GetPtpDiagStatus () 

Returns:

Resulting status


function GetPtpDiagTime

Getting data with PTC_COMMAND_PTP_DIAGNOSTICS (PTP TLV TIME_STATUS_NP)

HesaiPtpDiagTime nebula::drivers::HesaiHwInterface::GetPtpDiagTime () 

Returns:

Resulting status


function GetSensorConfiguration

Printing sensor configuration.

Status nebula::drivers::HesaiHwInterface::GetSensorConfiguration (
    const SensorConfigurationBase & sensor_configuration
) 

Parameters:

  • sensor_configuration SensorConfiguration for this interface

Returns:

Resulting status


function HesaiHwInterface

nebula::drivers::HesaiHwInterface::HesaiHwInterface () 

function IOContextRun

void nebula::drivers::HesaiHwInterface::IOContextRun () 

function InitializeTcpDriver

Initializing tcp_driver for TCP communication.

Status nebula::drivers::HesaiHwInterface::InitializeTcpDriver () 

Parameters:

  • setup_sensor Whether to also initialize tcp_driver for sensor configuration

Returns:

Resulting status


function NebulaModelToHesaiModelNo

Convert to model in Hesai protocol from nebula::drivers::SensorModel.

int nebula::drivers::HesaiHwInterface::NebulaModelToHesaiModelNo (
    nebula::drivers::SensorModel model
) 

Parameters:

  • model

Returns:


function ParseJson

Parsing json string to property_tree.

boost::property_tree::ptree nebula::drivers::HesaiHwInterface::ParseJson (
    const std::string & str
) 

Parameters:

  • str JSON string

Returns:

Parsed property_tree


function ReceiveSensorPacketCallback

Callback function to receive the Cloud Packet data from the UDP Driver.

void nebula::drivers::HesaiHwInterface::ReceiveSensorPacketCallback (
    std::vector< uint8_t > & buffer
) 

Parameters:

  • buffer Buffer containing the data received from the UDP socket

function RegisterScanCallback

Registering callback for PandarScan.

Status nebula::drivers::HesaiHwInterface::RegisterScanCallback (
    std::function< void(std::vector< uint8_t > &)> scan_callback
) 

Parameters:

  • scan_callback Callback function

Returns:

Resulting status


function SendReset

Sending command with PTC_COMMAND_RESET.

Status nebula::drivers::HesaiHwInterface::SendReset () 

Returns:

Resulting status


function SensorInterfaceStart

Starting the interface that handles UDP streams.

Status nebula::drivers::HesaiHwInterface::SensorInterfaceStart () 

Returns:

Resulting status


function SensorInterfaceStop

Function for stopping the interface that handles UDP streams.

Status nebula::drivers::HesaiHwInterface::SensorInterfaceStop () 

Returns:

Resulting status


function SetClockSource

Status nebula::drivers::HesaiHwInterface::SetClockSource (
    int clock_source
) 

function SetControlPort

Setting IP with PTC_COMMAND_SET_CONTROL_PORT.

Status nebula::drivers::HesaiHwInterface::SetControlPort (
    int ip_1,
    int ip_2,
    int ip_3,
    int ip_4,
    int mask_1,
    int mask_2,
    int mask_3,
    int mask_4,
    int gateway_1,
    int gateway_2,
    int gateway_3,
    int gateway_4,
    int vlan_flg,
    int vlan_id
) 

Parameters:

  • ip_1 Device IP of the 1st byte represents the 1st section
  • ip_2 Device IP of the 2nd byte represents the 2nd section
  • ip_3 Device IP of the 3rd byte represents the 3rd section
  • ip_4 Device IP of the 4th byte represents the 4th section
  • mask_1 Device subnet mask of the 1st byte represents the 1st section
  • mask_2 Device subnet mask of the 2nd byte represents the 2nd section
  • mask_3 Device subnet mask of the 3rd byte represents the 3rd section
  • mask_4 Device subnet mask of the 4th byte represents the 4th section
  • gateway_1 Device gateway of the 1st byte represents the 1st section
  • gateway_2 Device gateway of the 2nd byte represents the 2nd section
  • gateway_3 Device gateway of the 3rd byte represents the 3rd section
  • gateway_4 Device gateway of the 4th byte represents the 4th section
  • vlan_flg VLAN Status
  • vlan_id VLAN ID

Returns:

Resulting status


function SetDestinationIp

Setting IP with PTC_COMMAND_SET_DESTINATION_IP.

Status nebula::drivers::HesaiHwInterface::SetDestinationIp (
    int dest_ip_1,
    int dest_ip_2,
    int dest_ip_3,
    int dest_ip_4,
    int port,
    int gps_port
) 

Parameters:

  • dest_ip_1 The 1st byte represents the 1st section
  • dest_ip_2 The 2nd byte represents the 2nd section
  • dest_ip_3 The 3rd byte represents the 3rd section
  • dest_ip_4 The 4th byte represents the 4th section
  • port LiDAR Destination Port
  • gps_port GPS Destination Port

Returns:

Resulting status


function SetLidarRange [1/2]

Setting values with PTC_COMMAND_SET_LIDAR_RANGE.

Status nebula::drivers::HesaiHwInterface::SetLidarRange (
    int method,
    std::vector< unsigned char > data
) 

Parameters:

  • method Method
  • data Set data

Returns:

Resulting status


function SetLidarRange [2/2]

Setting values with PTC_COMMAND_SET_LIDAR_RANGE.

Status nebula::drivers::HesaiHwInterface::SetLidarRange (
    int start,
    int end
) 

Parameters:

  • start Start angle
  • end End angle

Returns:

Resulting status


function SetLogger

Setting rclcpp::Logger.

void nebula::drivers::HesaiHwInterface::SetLogger (
    std::shared_ptr< rclcpp::Logger > node
) 

Parameters:

  • node Logger

function SetPtpConfig

Setting values with PTC_COMMAND_SET_PTP_CONFIG.

Status nebula::drivers::HesaiHwInterface::SetPtpConfig (
    int profile,
    int domain,
    int network,
    int switch_type,
    int logAnnounceInterval=1,
    int logSyncInterval=1,
    int logMinDelayReqInterval=0
) 

Parameters:

  • profile IEEE timing and synchronization standard
  • domain Domain attribute of the local clock
  • network Network transport type of 1588v2
  • switch_type Switch type of 802.1AS Automotive
  • logAnnounceInterval Time interval between Announce messages, in units of log seconds (default: 1)
  • logSyncInterval Time interval between Sync messages, in units of log seconds (default: 1)
  • logMinDelayReqInterval Minimum permitted mean time between Delay_Req messages, in units of log seconds (default: 0)

Returns:

Resulting status


function SetPtpConfigSyncHttp [1/2]

HesaiStatus nebula::drivers::HesaiHwInterface::SetPtpConfigSyncHttp (
    std::shared_ptr< boost::asio::io_context > ctx,
    int profile,
    int domain,
    int network,
    int logAnnounceInterval,
    int logSyncInterval,
    int logMinDelayReqInterval
) 

function SetPtpConfigSyncHttp [2/2]

HesaiStatus nebula::drivers::HesaiHwInterface::SetPtpConfigSyncHttp (
    int profile,
    int domain,
    int network,
    int logAnnounceInterval,
    int logSyncInterval,
    int logMinDelayReqInterval
) 

function SetReturnMode

Setting mode with PTC_COMMAND_SET_RETURN_MODE.

Status nebula::drivers::HesaiHwInterface::SetReturnMode (
    int return_mode
) 

Parameters:

  • return_mode Return mode

Returns:

Resulting status


function SetRotDir

Setting values with PTC_COMMAND_SET_ROTATE_DIRECTION.

Status nebula::drivers::HesaiHwInterface::SetRotDir (
    int mode
) 

Parameters:

  • mode Rotation of the motor

Returns:

Resulting status


function SetSensorConfiguration

Setting sensor configuration.

Status nebula::drivers::HesaiHwInterface::SetSensorConfiguration (
    std::shared_ptr< const SensorConfigurationBase > sensor_configuration
) 

Parameters:

  • sensor_configuration SensorConfiguration for this interface

Returns:

Resulting status


function SetSpinRate

Setting value with PTC_COMMAND_SET_SPIN_RATE.

Status nebula::drivers::HesaiHwInterface::SetSpinRate (
    uint16_t rpm
) 

Parameters:

  • rpm Spin rate

Returns:

Resulting status


function SetSpinSpeedAsyncHttp [1/2]

Setting spin_speed via HTTP API.

HesaiStatus nebula::drivers::HesaiHwInterface::SetSpinSpeedAsyncHttp (
    std::shared_ptr< boost::asio::io_context > ctx,
    uint16_t rpm
) 

Parameters:

  • ctx IO Context used
  • rpm spin_speed (300, 600, 1200)

Returns:

Resulting status


function SetSpinSpeedAsyncHttp [2/2]

Setting spin_speed via HTTP API.

HesaiStatus nebula::drivers::HesaiHwInterface::SetSpinSpeedAsyncHttp (
    uint16_t rpm
) 

Parameters:

  • rpm spin_speed (300, 600, 1200)

Returns:

Resulting status


function SetStandbyMode

Setting mode with PTC_COMMAND_SET_STANDBY_MODE.

Status nebula::drivers::HesaiHwInterface::SetStandbyMode (
    int standby_mode
) 

Parameters:

  • standby_mode Standby mode

Returns:

Resulting status


function SetSyncAngle

Setting value with PTC_COMMAND_SET_SYNC_ANGLE.

Status nebula::drivers::HesaiHwInterface::SetSyncAngle (
    int sync_angle,
    int angle
) 

Parameters:

  • sync_angle Sync angle enable flag
  • angle Angle value

Returns:

Resulting status


function SetSyncAngleSyncHttp [1/2]

HesaiStatus nebula::drivers::HesaiHwInterface::SetSyncAngleSyncHttp (
    std::shared_ptr< boost::asio::io_context > ctx,
    int enable,
    int angle
) 

function SetSyncAngleSyncHttp [2/2]

HesaiStatus nebula::drivers::HesaiHwInterface::SetSyncAngleSyncHttp (
    int enable,
    int angle
) 

function SetTargetModel [1/2]

Set target model number (for proper use of HTTP and TCP according to the support of the target model)

void nebula::drivers::HesaiHwInterface::SetTargetModel (
    int model
) 

Parameters:

  • model Model number

function SetTargetModel [2/2]

Set target model number (for proper use of HTTP and TCP according to the support of the target model)

void nebula::drivers::HesaiHwInterface::SetTargetModel (
    nebula::drivers::SensorModel model
) 

Parameters:

  • model Model

function SetTriggerMethod

Setting mode with PTC_COMMAND_SET_TRIGGER_METHOD.

Status nebula::drivers::HesaiHwInterface::SetTriggerMethod (
    int trigger_method
) 

Parameters:

  • trigger_method Trigger method

Returns:

Resulting status


function UseHttpGetLidarMonitor [1/2]

Whether to use HTTP for getting LidarMonitor.

bool nebula::drivers::HesaiHwInterface::UseHttpGetLidarMonitor (
    int model
) 

Parameters:

  • model Model number

Returns:

Use HTTP


function UseHttpGetLidarMonitor [2/2]

Whether to use HTTP for getting LidarMonitor.

bool nebula::drivers::HesaiHwInterface::UseHttpGetLidarMonitor () 

Returns:

Use HTTP


function UseHttpSetSpinRate [1/2]

Whether to use HTTP for setting SpinRate.

bool nebula::drivers::HesaiHwInterface::UseHttpSetSpinRate (
    int model
) 

Parameters:

  • model Model number

Returns:

Use HTTP


function UseHttpSetSpinRate [2/2]

Whether to use HTTP for setting SpinRate.

bool nebula::drivers::HesaiHwInterface::UseHttpSetSpinRate () 

Returns:

Use HTTP


function checkAndSetLidarRange

Given the HW interface's sensor configuration and a given calibration, set the sensor FoV (min and max angles) with appropriate padding around the FoV set in the configuration. This compensates for the points lost due to the sensor filtering FoV by raw encoder angle.

Status nebula::drivers::HesaiHwInterface::checkAndSetLidarRange (
    const HesaiCalibrationConfigurationBase & calibration
) 

Parameters:

  • calibration The calibration file of the sensor

Returns:

Status Resulting status of setting the FoV


function ~HesaiHwInterface

nebula::drivers::HesaiHwInterface::~HesaiHwInterface () 


The documentation for this class was generated from the following file nebula_hw_interfaces/include/nebula_hw_interfaces/nebula_hw_interfaces_hesai/hesai_hw_interface.hpp