Hesai AT128 Configuration via HTTP

[markusschratter]

Problem

We have the issue that the configuration via HTTP does not work during startup of the driver and as a result the driver terminates.

[hesai_ros_wrapper_node-1] [INFO] [1751898252.927252574] [hesai_ros_wrapper_node]: Sensor Configuration: Hesai Sensor Configuration:
[hesai_ros_wrapper_node-1] Sensor Model: PandarAT128
[hesai_ros_wrapper_node-1] Frame ID: hesai
[hesai_ros_wrapper_node-1] Host IP: 192.168.1.100
[hesai_ros_wrapper_node-1] Sensor IP: 192.168.1.201
[hesai_ros_wrapper_node-1] Data Port: 2368
[hesai_ros_wrapper_node-1] Return Mode: LastStrongest
[hesai_ros_wrapper_node-1] Frequency: 0
[hesai_ros_wrapper_node-1] MTU: 1500
[hesai_ros_wrapper_node-1] Use Sensor Time: 0
[hesai_ros_wrapper_node-1] Multicast: disabled
[hesai_ros_wrapper_node-1] GNSS Port: 10110
[hesai_ros_wrapper_node-1] Rotation Speed: 200
[hesai_ros_wrapper_node-1] Sync Angle: 30
[hesai_ros_wrapper_node-1] Cut Angle: 150
[hesai_ros_wrapper_node-1] FoV Start: 30
[hesai_ros_wrapper_node-1] FoV End: 150
[hesai_ros_wrapper_node-1] Dual Return Distance Threshold: 0.1
[hesai_ros_wrapper_node-1] Calibration Path: /home/hil/autoware_ws/install/nebula_decoders/share/nebula_decoders/calibration/hesai/PandarAT128.dat
[hesai_ros_wrapper_node-1] PTP Profile: IEEE_1588v2
[hesai_ros_wrapper_node-1] PTP Domain: 0
[hesai_ros_wrapper_node-1] PTP Transport Type: UDP/IP
[hesai_ros_wrapper_node-1] PTP Switch Type: TSN
[hesai_ros_wrapper_node-1] High Resolution Mode: 0
[hesai_ros_wrapper_node-1] PTP Lock Threshold: 100
[hesai_ros_wrapper_node-1] High Resolution Mode: disabled
[hesai_ros_wrapper_node-1] Downsample Filter: disabled
[hesai_ros_wrapper_node-1] Blockage Mask Output: disabled
[hesai_ros_wrapper_node-1] Synchronization Diagnostics: disabled
[hesai_ros_wrapper_node-1] 192.168.1.201:9347
[hesai_ros_wrapper_node-1] [INFO] [1751898252.927978404] [TcpSocket::open]: connected
[hesai_ros_wrapper_node-1] [WARN] [1751898252.928414224] [hesai_ros_wrapper_node.HwInterface]: Sensor returned longer payload than expected. Truncating and parsing anyway.
[hesai_ros_wrapper_node-1] [INFO] [1751898252.929520706] [hesai_ros_wrapper_node.HwInterface]: current lidar rotation_speed: 400
[hesai_ros_wrapper_node-1] [INFO] [1751898252.929531846] [hesai_ros_wrapper_node.HwInterface]: current configuration rotation_speed: 200
[hesai_ros_wrapper_node-1] [INFO] [1751898253.029769317] [hesai_ros_wrapper_node.HwInterface]: current lidar dest_gps_udp_port: 0
[hesai_ros_wrapper_node-1] [INFO] [1751898253.029791933] [hesai_ros_wrapper_node.HwInterface]: current configuration gnss_port: 10110
[hesai_ros_wrapper_node-1] [INFO] [1751898253.159863171] [hesai_ros_wrapper_node.HwInterface]: Trying to set SyncAngle via HTTP
[hesai_ros_wrapper_node-1] terminate called after throwing an instance of 'boost::wrapexcept<boost::system::system_error>'
[hesai_ros_wrapper_node-1]   what():  connect: Connection refused

Conditions

Nebula version: v0.2.8
Hesai AT128 version:

Could our configuration or the lidar's firmware be wrong? Sending an HTTP request manually (without the driver) also does not work.
In general, the lidar data looks good. In PandarView2, the point cloud is visible.

[mojomex]

Hi, thank you for using Nebula.
It seems like you're using the successor model of AT128, AT128P, which is currently not supported in Nebula. As we do not have an AT128 device ourselves, we have to rely on community members to help with the implementation of new sensors.
Feel free to let us know if you would be interested in collaborating on this.

[drwnz]

@amc-nu I think you tested an AT128P and got it to work, can you provide the changes you made please? Thanks!

[markusschratter]

Hi, thank you for using Nebula. It seems like you're using the successor model of AT128, AT128P, which is currently not supported in Nebula. As we do not have an AT128 device ourselves, we have to rely on community members to help with the implementation of new sensors. Feel free to let us know if you would be interested in collaborating on this.

@mojomex Thanks for the clarification! Yes, it looks like the changed the interfaces to configure the AT128P as well as the provided output data.

[drwnz]

@markusschratter
Although we don't have a device to test, I spoke with @amc-nu and heard that possibly simply changing the PTP mode may work.

The earlier AT128 supports 1588v2, but the AT128P only the automotive profiles. So if you change the ptp_profile from 1588v2 to 802.1as or automotive you may be able to run the device.

Please let us know how you get on!

[markusschratter]

@drwnz @amc-nu
Thanks for your support! I tried setting the PTP profile to 802.1AS / automotive. However, the behavior is the same. I deactivated the code lines that configure PTP. Instead, I configured it via the Hesai Lidar Utilities tool.

INFO] [hesai_ros_wrapper_node-1]: process started with pid [1473]
[hesai_ros_wrapper_node-1] [WARN] [1754287219.837081236] [hesai_ros_wrapper_node]: PTP transport was set to 'UDP' but PTP profile 'automotive' only supports 'L2'. Setting it to 'L2'.
[hesai_ros_wrapper_node-1] [INFO] [1754287219.837181601] [hesai_ros_wrapper_node]: Sensor Configuration: Hesai Sensor Configuration:
[hesai_ros_wrapper_node-1] Sensor Model: PandarAT128
[hesai_ros_wrapper_node-1] Frame ID: hesai
[hesai_ros_wrapper_node-1] Host IP: 192.168.1.100
[hesai_ros_wrapper_node-1] Sensor IP: 192.168.1.201
[hesai_ros_wrapper_node-1] Data Port: 2368
[hesai_ros_wrapper_node-1] Return Mode: LastStrongest
[hesai_ros_wrapper_node-1] Frequency: 0
[hesai_ros_wrapper_node-1] MTU: 1500
[hesai_ros_wrapper_node-1] Use Sensor Time: 0
[hesai_ros_wrapper_node-1] Multicast: disabled
[hesai_ros_wrapper_node-1] GNSS Port: 10110
[hesai_ros_wrapper_node-1] Rotation Speed: 200
[hesai_ros_wrapper_node-1] Sync Angle: 30
[hesai_ros_wrapper_node-1] Cut Angle: 150
[hesai_ros_wrapper_node-1] FoV Start: 30
[hesai_ros_wrapper_node-1] FoV End: 150
[hesai_ros_wrapper_node-1] Dual Return Distance Threshold: 0.1
[hesai_ros_wrapper_node-1] Calibration Path: /home/arg/ARG/test_ws/install/nebula_decoders/share/nebula_decoders/calibration/hesai/PandarAT128.dat
[hesai_ros_wrapper_node-1] PTP Profile: IEEE_802.1AS Automotive
[hesai_ros_wrapper_node-1] PTP Domain: 0
[hesai_ros_wrapper_node-1] PTP Transport Type: L2
[hesai_ros_wrapper_node-1] PTP Switch Type: TSN
[hesai_ros_wrapper_node-1] High Resolution Mode: 0
[hesai_ros_wrapper_node-1] PTP Lock Threshold: 100
[hesai_ros_wrapper_node-1] High Resolution Mode: disabled
[hesai_ros_wrapper_node-1] Downsample Filter: disabled
[hesai_ros_wrapper_node-1] Blockage Mask Output: disabled
[hesai_ros_wrapper_node-1] Synchronization Diagnostics: disabled
[hesai_ros_wrapper_node-1] 192.168.1.201:9347
[hesai_ros_wrapper_node-1] [INFO] [1754287219.837443576] [TcpSocket::open]: connected
[hesai_ros_wrapper_node-1] [WARN] [1754287219.838234654] [hesai_ros_wrapper_node.HwInterface]: Sensor returned longer payload than expected. Truncating and parsing anyway.
[hesai_ros_wrapper_node-1] [INFO] [1754287219.839040568] [hesai_ros_wrapper_node.HwInterface]: current lidar dest_gps_udp_port: 0
[hesai_ros_wrapper_node-1] [INFO] [1754287219.839051167] [hesai_ros_wrapper_node.HwInterface]: current configuration gnss_port: 10110
[hesai_ros_wrapper_node-1] [INFO] [1754287220.079390856] [hesai_ros_wrapper_node]: Downloaded calibration data from sensor.
[hesai_ros_wrapper_node-1] [INFO] [1754287220.080433537] [hesai_ros_wrapper_node]: Saved downloaded data to "/home/arg/ARG/test_ws/install/nebula_decoders/share/nebula_decoders/calibration/hesai/PandarAT128._from_sensor_192.168.1.201.dat"
[hesai_ros_wrapper_node-1] [WARN] [1754287220.081364495] [hesai_ros_wrapper_node]: The configured sensor framerate (200 RPM = 3.33 Hz) is outside the configured framerate bounds: 9.50 - 10.50. Please check the sensor configuration.
[hesai_ros_wrapper_node-1] [INFO] [1754287220.081397185] [hesai_ros_wrapper_node.HesaiDecoder]: Using calibration data from /home/arg/ARG/test_ws/install/nebula_decoders/share/nebula_decoders/calibration/hesai/PandarAT128._from_sensor_192.168.1.201.dat
[hesai_ros_wrapper_node-1] [INFO] [1754287220.081402143] [hesai_ros_wrapper_node.HesaiDecoder]: Starting Decoder
[hesai_ros_wrapper_node-1] [INFO] [1754287220.158412318] [hesai_ros_wrapper_node.HesaiDecoder]: . Wrapper=OK
[hesai_ros_wrapper_node-1] [ERROR] [1754287220.162300147] [hesai_ros_wrapper_node.HesaiDecoder.Decoder]: Packet size mismatch: 99 | Expected at least: 1078
[hesai_ros_wrapper_node-1] [ERROR] [1754287220.167518655] [hesai_ros_wrapper_node.HesaiDecoder.Decoder]: Packet size mismatch: 99 | Expected at least: 1078
[hesai_ros_wrapper_node-1] [ERROR] [1754287220.172300166] [hesai_ros_wrapper_node.HesaiDecoder.Decoder]: Packet size mismatch: 99 | Expected at least: 1078

Could the data structure itself have changed? I configured dual mode as the return mode.