If Lidar Data doesn't shows up and you've just installed it.

[Castleone98]

if there is "enable_packet_loss_tool: true" in your "config.yaml" file it'll executed as debug mode so rviz doesn't work

So,make "enable_packet_loss_tool: false" in your "config.yaml" file or Delete "enable_packet_loss_tool: true".

[hasarindu-vega]

Hey,

I am currently working on connecting XT16 LiDAR sensor to ROS2 within my development environment. Despite implementing the suggested fix, I am still unable to receive any data on RViz. Below are the details of my setup:

Operating System: Ubuntu 22.04 ROS Version: ROS Humble

For further clarity, I have attached a screenshot illustrating the current setup and issue.

I would appreciate any guidance or suggestions you might have to resolve this matter.

Thanks.

[Castleone98]

It seems fine to me...Have you tried catch XT16 LIDAR's packet with wireshark? if XT16's packets being catched, Your computer connected with your device but some reason it doesn't work..

if not being catched,then try to check your IP addr or else.

best debuging guide that i recommend is to debug hesai SDK itself to print more info.(using print())

[quner2024]

Hey,

I am currently working on connecting XT16 LiDAR sensor to ROS2 within my development environment. Despite implementing the suggested fix, I am still unable to receive any data on RViz. Below are the details of my setup:

Operating System: Ubuntu 22.04 ROS Version: ROS Humble

For further clarity, I have attached a screenshot illustrating the current setup and issue.

I would appreciate any guidance or suggestions you might have to resolve this matter.

Thanks.

Thanks to Hesai's professional help, I finally find a solution for this error. My environment is AT128 Lidar + Ubuntu 22.04 LTS + ROS2 Humble. Also, my laptop isn't equipped with an NVIDIA Graphics Card.

What most important thing is to turn off ANY firewall like UFW(Ubuntu) or Windows Firewall(Windows). You really need to ensure that there aren't any type of block wall behind u and lidar.

Please double check! You need to completely turn off firewall first.

Then if u do not have NVIDIA Graphics Cards ,u need to go to CMakeLists.txt and find line 158

158 find_package(CUDA )

And change the WHOLE LINE into

158 find_package(CUDA_FOUND )

Finally, colcon build as official docs says:

  colcon build --symlink-install
  . install/local_setup.bash

By the way, I didn't change anything including config/config.yaml and lidar works well.

[hasarindu-vega]

Hey, I am currently working on connecting XT16 LiDAR sensor to ROS2 within my development environment. Despite implementing the suggested fix, I am still unable to receive any data on RViz. Below are the details of my setup: Operating System: Ubuntu 22.04 ROS Version: ROS Humble For further clarity, I have attached a screenshot illustrating the current setup and issue. I would appreciate any guidance or suggestions you might have to resolve this matter. Thanks.

Thanks to Hesai's professional help, I finally find a solution for this error. My environment is AT128 Lidar + Ubuntu 22.04 LTS + ROS2 Humble. Also, my laptop isn't equipped with an NVIDIA Graphics Card.

What most important thing is to turn off ANY firewall like UFW(Ubuntu) or Windows Firewall(Windows). You really need to ensure that there aren't any type of block wall behind u and lidar.

Please double check! You need to completely turn off firewall first.

Then if u do not have NVIDIA Graphics Cards ,u need to go to CMakeLists.txt and find line 158

158 find_package(CUDA )

And change the WHOLE LINE into

158 find_package(CUDA_FOUND )

Finally, colcon build as official docs says:

  colcon build --symlink-install
  . install/local_setup.bash

By the way, I didn't change anything including config/config.yaml and lidar works well.

It seems like the UFW is inactive in my case. I am also using a device without a GPU, so I tried changing the line 158. Below is the results.

Wireshark is capturing some packets from LiDAR, but I do not see any LiDAR pointcloud data there, and the data flow is very slow. (I assume this is some kind of a header to acknowledge LiDAR is connected?)

I also tried Hesai SDK but the result were same.