Sensor Recording Toolkit

This repo allows for recording data from the FMDV Sensor stack

Build and Run Commands

Build in the current working directory and source it. Alternatively, for individual module builds, if needed, navigate to each subdirectory (Hesai_ROS_2.0, zed_ros2, zed2i, vectornav, etc.), colcon build individually, and source the respective setup files.

Find Hesai_SDK build instructions in the upstream repo

Run the driver node (default behavior):

ros2 run driver driver_node

Run ZED only:

ros2 run driver driver_node -- zed

Run ZED with explicit output directory:

ros2 run driver driver_node -- zed /path/to/output_dir

Run VectorNav only (records /vectornav/* topics):

ros2 run driver driver_node -- vn

Run ZED + VectorNav:

ros2 run driver driver_node -- zed+vn

Run Hesai only:

ros2 run driver driver_node -- hesai

Run Hesai + VectorNav (single combined rosbag):

ros2 run driver driver_node -- hesai+vn

Run all sensors (ZED + Hesai + VectorNav):

ros2 run driver driver_node -- all

Show command help:

ros2 run driver driver_node -- -h

Recording Output Location

• If you pass an output path, all outputs are stored there.
• If no output path is provided, data is stored under:
  • ~/ros2_bags/session_<timestamp>/
• VectorNav-only rosbag path (vn or zed+vn):
  • <output_dir>/rosbag_vectornav/rosbag_vectornav_0.db3.zstd
• Hesai-only rosbag path (hesai) recording /lidar_points, /lidar_imu, /lidar_packets:
  • <output_dir>/rosbag_lidar/rosbag_lidar_0.db3.zstd
• Combined Hesai+VN rosbag path (hesai+vn or all when both are enabled) recording Hesai topics above + /vectornav/*:
  • <output_dir>/rosbag_lidar+vn/rosbag_lidar+vn_0.db3.zstd
• ZED SVO2 path:
  • <output_dir>/zed_data.svo2

Example:

ros2 run driver driver_node -- vn ~/.

This resolves to output directory ~ (your home folder), so the bag is in:

• ~/rosbag_vectornav/rosbag_vectornav_0.db3.zstd

Clock Sync Notes

• Ptp_master.sh is used to sync the LiDAR clock to the system clock.
• Future plan: extract the PPS signal from VectorNav and use it to discipline the system clock.
• Then use this sync flow to tune LiDAR and camera timing together.
• ZED2i syncs to sys clock internally based on zed2i documentation

RViz2 Config

If needed, the RViz2 display configuration file is in the zed2i folder:

• zed2i/dual_view.rviz