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 SensorConfigurationhesai_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 SensorConfigurationhesai_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 Contextstr_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 sectionip_2
Device IP of the 2nd byte represents the 2nd sectionip_3
Device IP of the 3rd byte represents the 3rd sectionip_4
Device IP of the 4th byte represents the 4th sectionmask_1
Device subnet mask of the 1st byte represents the 1st sectionmask_2
Device subnet mask of the 2nd byte represents the 2nd sectionmask_3
Device subnet mask of the 3rd byte represents the 3rd sectionmask_4
Device subnet mask of the 4th byte represents the 4th sectiongateway_1
Device gateway of the 1st byte represents the 1st sectiongateway_2
Device gateway of the 2nd byte represents the 2nd sectiongateway_3
Device gateway of the 3rd byte represents the 3rd sectiongateway_4
Device gateway of the 4th byte represents the 4th sectionvlan_flg
VLAN Statusvlan_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 sectiondest_ip_2
The 2nd byte represents the 2nd sectiondest_ip_3
The 3rd byte represents the 3rd sectiondest_ip_4
The 4th byte represents the 4th sectionport
LiDAR Destination Portgps_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
Methoddata
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 angleend
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 standarddomain
Domain attribute of the local clocknetwork
Network transport type of 1588v2switch_type
Switch type of 802.1AS AutomotivelogAnnounceInterval
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 usedrpm
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 flagangle
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