Hesai Driver

This driver provides a GXF interface to Hesai lidars. There are two Hesai lidars currently supported: XT32 and 128E3.

Overview

This parser pulls Hesai lidar data from UDP and publishes it out as a RangeScan message. It also optionally accepts intrinsic information.

Inputs

• Raw Data: Raw UDP data packets with lidar scan data. This is represented using gxf::Tensor.

• Sensor Frame: Pose frame where the beams originate from.

• Intrinsics (Optional): Receiver for lidar intrinsics. This is a LidarIntrinsics3d message. If not specified pulls intrinsics from default values.

• Intrinsics Timeout (Optional): Timeout for intrinsics receiver in seconds. Defaults to 10.0 seconds.

Outputs

• Range Scan: Lidar’s processed range scan. This is a RangeScan message.

• Packet Drop (Optional): Message with information about dropped packets. This is a Json message.

Overview

A separate TCP client for the Hesai lidar that currently gets intrinsic information from the lidar. This intrinsic data is published out as a LidarIntrinsics3d message.

Inputs

• IP Address (Optional): The IP for the Hesai lidar. Defaults to “192.168.1.201”.

• Port (Optional): The TCP port for the Hesai lidar. Defaults to 9347.

• Frequency (Optional): Frequency in Hz for publishing intrinsics. Defaults to publishing once.

Outputs

• Intrinsics: Hesai lidars intrinsics as LidarIntrinsics3d message.

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---
name: hesai_parser
components:
- name: raw_data_input
  type: nvidia::gxf::DoubleBufferReceiver
  parameters:
    capacity: 10
- name: range_scan_output
  type: nvidia::gxf::DoubleBufferTransmitter
- name: allocator
  type: nvidia::gxf::BlockMemoryPool
  parameters:
    storage_type: 0
    block_size: 2500000
    num_blocks: 100
- name: intrinsics_input
  type: nvidia::gxf::DoubleBufferReceiver
  parameters:
    capacity: 10
- type: nvidia::isaac::HesaiParser
  parameters:
    raw_data_input: raw_data_input
    range_scan_output: range_scan_output
    allocator: allocator
    sensor_frame: atlas/lidar_frame
    intrinsics_input: intrinsics_input
    intrinsics_timeout: 10.0
- type: nvidia::gxf::MessageAvailableSchedulingTerm
  parameters:
    receiver: raw_data_input
    min_size: 1
- type: nvidia::gxf::DownstreamReceptiveSchedulingTerm
  parameters:
    transmitter: range_scan_output
    min_size: 1
---
name: hesai_tcp_client
components:
- name: intrinsics_output
  type: nvidia::gxf::DoubleBufferTransmitter
- type: nvidia::isaac::HesaiTcpClient
  parameters:
    intrinsics_output: intrinsics_output
    tcp_ip: 192.168.1.201
    tcp_port: 9347
    frequency: 0.0
- type: nvidia::gxf::DownstreamReceptiveSchedulingTerm
  parameters:
    transmitter: intrinsics_output
    min_size: 1
---
name: udp_receiver
components:
- name: tensor
  type: nvidia::gxf::DoubleBufferTransmitter
  parameters:
    capacity: 10
- name: allocator
  type: nvidia::gxf::BlockMemoryPool
  parameters:
    storage_type: 2
    block_size: 1080
    num_blocks: 1000
- type: nvidia::isaac::UdpReceiver
  parameters:
    tensor: tensor
    allocator: allocator
    async_scheduling_term: async_scheduling_term
    address: 192.168.1.201
    port: 2368
    packet_accumulation: 50
    buffer_size: 1080
    receive_buffer_size: 561000
- name: async_scheduling_term
  type: nvidia::gxf::AsynchronousSchedulingTerm
- type: nvidia::gxf::DownstreamReceptiveSchedulingTerm
  parameters:
    transmitter: tensor
    min_size: 1
        

NvIsaacHesaiExtension

Extension to interface with Hesai lidars

nvidia::isaac::HesaiParser

Parser for the raw hesai data packets

Parameters:

name

Raw data input

lookup_name

raw_data_input

description

Receiver for raw packet data.

flags

GXF_PARAMETER_FLAGS_NONE

type

GXF_PARAMETER_TYPE_HANDLE

default

N/A

name

Range scan output

lookup_name

range_scan_output

description

Handle to the ‘range_scan_output’ transmitter.

flags

GXF_PARAMETER_FLAGS_NONE

type

GXF_PARAMETER_TYPE_HANDLE

default

N/A

name

Packet drop output

lookup_name

packet_drop_output

description

Outputs message on packet drop.

flags

GXF_PARAMETER_FLAGS_OPTIONAL

type

GXF_PARAMETER_TYPE_HANDLE

default

N/A

name

Memory allocator

lookup_name

allocator

description

Handle to the memory allocator pool used for output messages.

flags

GXF_PARAMETER_FLAGS_NONE

type

GXF_PARAMETER_TYPE_HANDLE

default

N/A

name

Sensor frame

lookup_name

sensor_frame

description

Handle to the pose frame the simulated beams originate from.

flags

GXF_PARAMETER_FLAGS_NONE

type

GXF_PARAMETER_TYPE_HANDLE

default

N/A

name

Intrinsics input

lookup_name

intrinsics_input

description

Receiver for lidar intrinsics.

flags

GXF_PARAMETER_FLAGS_OPTIONAL

type

GXF_PARAMETER_TYPE_HANDLE

default

N/A

name

Intrinsics input timeout in seconds

lookup_name

intrinsics_timeout

description

Timeout for intrinsics receiver in seconds.

flags

GXF_PARAMETER_FLAGS_NONE

type

GXF_PARAMETER_TYPE_FLOAT64

default

10.0

nvidia::isaac::HesaiTcpClient

TCP client for hesai

Parameters:

name

Memory allocator

lookup_name

allocator

description

Handle to the memory allocator pool used for output messages.

flags

GXF_PARAMETER_FLAGS_NONE

type

GXF_PARAMETER_TYPE_HANDLE

default

N/A

name

Intrinsics Output

lookup_name

intrinsics_output

description

Outputs message containing intrinsic information for Hesai Pandar.

flags

GXF_PARAMETER_FLAGS_NONE

type

GXF_PARAMETER_TYPE_HANDLE

default

N/A

name

IP address for TCP interface

lookup_name

tcp_ip

description

Changes IP address for TCP client.

flags

GXF_PARAMETER_FLAGS_NONE

type

GXF_PARAMETER_TYPE_STRING

default

192.168.1.201

name

Port for TCP interface

lookup_name

tcp_port

description

Changes port for TCP client.

flags

GXF_PARAMETER_FLAGS_NONE

type

GXF_PARAMETER_TYPE_UINT16

default

9347

name

Frequency (Hz) for publishing metadata

lookup_name

frequency

description

Frequency (Hz) for publishing metadata. Defaults to publishing once if 0.0.

flags

GXF_PARAMETER_FLAGS_NONE

type

GXF_PARAMETER_TYPE_FLOAT64

default

0.0