Integrating Hesai JT16

[ARK3r]

What are the steps to integrate support for the Hesai JT16 lidar?

[newkillerwhale]

这是个好问题，我也刚买这个雷达

[mojomex]

Hi @ARK3r, thank you for your interest in Nebula!

We have some documentation on how we designed the Hesai decoder, and a tutorial branch detailing most of the changes necessary to integrate a new Hesai-like sensor.

JT16 seems to be similar to other Hesai sensors

• overall working principle
• in terms of decoding and calibration
• packet structure
• functional safety info

but different

• in terms of connection mode (serial (RS485) instead of UDP/IP)
• in terms of multiplexed payloads on the same connection (pointcloud, IMU, fault info)

So, in addition to the links above, it would be necessary to

• implement an RS485 driver (probably simpler than UDP)
• wrap or extend the decoder to work with multiplexed payloads (or ignore IMU and functional safety info for now)

For review and testing, PCAPs recorded with a real sensor should be enough for us.

Please let us know if you're interested in contributing, we'd love to support JT16 but don't have the sensor ourselves at the moment.