Sensor Recording Toolkit

Open source recording toolkit for Hesai Pandar 40P, Vectornav VN-200 and Zed2i Stereo camera

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