Hesai XT16 LiDAR

[deniwaki]

I want to use the XT16 in Nebula,　Is there a good way to do it?　 Or any update plan for use XT16 near future?

[mojomex]

Thank you for your interest in Nebula! Sadly, we are currently not supporting XT16 and do not currently have a model to test with. However, seeing as the datasheets of XT32 and XT16 are (as far as I can tell) identical except for the 32 vs. 16 channels, it should be fairly quick to work off of the existing XT32 code to add support. This would involve:

• Adding XT16 as a recognized model name in a few places (basically search and copy XT32)
• Adding an XT16 sensor definition (copy XT32)
• Perform testing (connect to the sensor, show pointcloud output)
• If everything looks good, record /pandar_packets while XT16 is running for us to confirm it is working.
• Add a unit test case based on the recorded packets

If you specifically want to use Nebula with XT16 and are willing to create a PR along those lines, we would be very happy to work with you on this.