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feat(nebula_hesai): add FTX140 support #523

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40f35aa
feat(nebula_hesai): add AT128P support
Autumn60 Oct 28, 2026
86cd537
fix(hesai_decoder): add handling for fault message packets and corres…
Autumn60 Oct 28, 2026
7dbae36
feat(nebula_hesai): add FTX140 support
Autumn60 Oct 28, 2026
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1 change: 1 addition & 0 deletions docs/filters.md
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Expand Up @@ -97,6 +97,7 @@ The required resolution of the mask is sensor-dependent:
| PandarXT32 | 2000 x 32 |
| PandarXT32M | 2000 x 32 |
| PandarAT128 | 1200 x 128 |
| AT128P | 1200 x 128 |
| PandarQT64 | 600 x 64 |
| PandarQT128 | 900 x 128 |
| Pandar128E4X | 3600 x 128 |
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1 change: 1 addition & 0 deletions docs/parameters/vendors/hesai/at128p.md
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{{ json_to_markdown("src/nebula_hesai/nebula_hesai/schema/AT128P.schema.json") }}
1 change: 1 addition & 0 deletions docs/parameters/vendors/hesai/ftx140.md
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{{ json_to_markdown("src/nebula_hesai/nebula_hesai/schema/FTX140.schema.json") }}
4 changes: 4 additions & 0 deletions docs/supported_sensors.md
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Expand Up @@ -19,10 +19,14 @@ The `sensor_model` parameter below decides which sensor driver is launched.
| Pandar QT64 | PandarQT64 | PandarQT64.param.yaml | ✅ |
| Pandar QT128 | PandarQT128 | PandarQT128.param.yaml | ✅ |
| Pandar AT128 | PandarAT128 | PandarAT128.param.yaml | ✅\* |
| AT128P | AT128P | AT128P.param.yaml | ⚠️ |
| FTX140 | FTX140 | FTX140.param.yaml | ⚠️\*\* |
| Pandar OT128 | Pandar128E4X | Pandar128E4X.param.yaml | ✅ |

\*: AT128 needs software version 3.50.8 or newer for the `scan_angle` setting to work correctly.

\*\*: For the FTX140, only single return modes (`First`, `Last`, `Strongest`) are supported, and `setup_sensor` only sets the return mode, the destination and the PTP config (automotive profile). Points are output in the coordinate frame of the Hesai SDK.

## Velodyne LiDARs

| Model | `sensor_model` | Configuration file | Test status |
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2 changes: 2 additions & 0 deletions src/nebula/CMakeLists.txt
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Expand Up @@ -16,6 +16,8 @@ if(BUILD_TESTING)
PandarQT128
Pandar128E4X
PandarAT128
AT128P
FTX140
PandarXT16
PandarXT32
PandarXT32M
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2 changes: 2 additions & 0 deletions src/nebula/launch/nebula_launch.py
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Expand Up @@ -28,6 +28,8 @@
"Pandar64",
"Pandar128E4X",
"PandarAT128",
"AT128P",
"FTX140",
"PandarQT64",
"PandarQT128",
"PandarXT16",
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14 changes: 14 additions & 0 deletions src/nebula_core/nebula_core_common/include/nebula_core_common/nebula_common.hpp
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Expand Up @@ -191,6 +191,8 @@ enum class SensorModel : uint8_t {
HESAI_PANDARXT32,
HESAI_PANDARXT32M,
HESAI_PANDARAT128,
HESAI_AT128P,
HESAI_FTX140,
HESAI_PANDAR128_E3X,
HESAI_PANDAR128_E4X,
VELODYNE_VLS128,
Expand Down Expand Up @@ -251,6 +253,12 @@ inline std::ostream & operator<<(std::ostream & os, nebula::drivers::SensorModel
case SensorModel::HESAI_PANDARAT128:
os << "PandarAT128";
break;
case SensorModel::HESAI_AT128P:
os << "AT128P";
break;
case SensorModel::HESAI_FTX140:
os << "FTX140";
break;
case SensorModel::HESAI_PANDAR128_E3X:
os << "Pandar128_E3X";
break;
Expand Down Expand Up @@ -406,6 +414,8 @@ inline SensorModel sensor_model_from_string(const std::string & sensor_model)
if (sensor_model == "PandarXT32") return SensorModel::HESAI_PANDARXT32;
if (sensor_model == "PandarXT32M") return SensorModel::HESAI_PANDARXT32M;
if (sensor_model == "PandarAT128") return SensorModel::HESAI_PANDARAT128;
if (sensor_model == "AT128P") return SensorModel::HESAI_AT128P;
if (sensor_model == "FTX140") return SensorModel::HESAI_FTX140;
if (sensor_model == "PandarQT64") return SensorModel::HESAI_PANDARQT64;
if (sensor_model == "PandarQT128") return SensorModel::HESAI_PANDARQT128;
if (sensor_model == "Pandar128E4X") return SensorModel::HESAI_PANDAR128_E4X;
Expand Down Expand Up @@ -445,6 +455,10 @@ inline std::string sensor_model_to_string(const SensorModel & sensor_model)
return "PandarXT32M";
case SensorModel::HESAI_PANDARAT128:
return "PandarAT128";
case SensorModel::HESAI_AT128P:
return "AT128P";
case SensorModel::HESAI_FTX140:
return "FTX140";
case SensorModel::HESAI_PANDARQT64:
return "PandarQT64";
case SensorModel::HESAI_PANDARQT128:
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15 changes: 15 additions & 0 deletions src/nebula_hesai/nebula_hesai/CMakeLists.txt
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Expand Up @@ -85,6 +85,21 @@ if(BUILD_TESTING)
-D_SRC_CALIBRATION_DIR_PATH="${CMAKE_CURRENT_SOURCE_DIR}/../nebula_hesai_decoders/calibration/"
)

# AT128P sensor definition test
ament_add_gtest(test_hesai_at128p tests/test_hesai_at128p.cpp)
target_link_libraries(test_hesai_at128p
nebula_hesai_decoders::nebula_hesai_decoders)

# Fault message handling test
ament_add_gtest(test_hesai_fault_message tests/test_hesai_fault_message.cpp)
target_link_libraries(test_hesai_fault_message
nebula_hesai_decoders::nebula_hesai_decoders)

# FTX140 calibration and decoder test
ament_add_gtest(test_hesai_ftx140 tests/test_hesai_ftx140.cpp)
target_link_libraries(test_hesai_ftx140
nebula_hesai_decoders::nebula_hesai_decoders)

# Functional safety test
ament_add_gtest(test_hesai_functional_safety
tests/test_hesai_functional_safety.cpp)
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42 changes: 42 additions & 0 deletions src/nebula_hesai/nebula_hesai/config/AT128P.param.yaml
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/**:
ros__parameters:
host_ip: 192.168.1.10
sensor_ip: 192.168.1.201
multicast_ip: ""
data_port: 2368
gnss_port: 10110
udp_socket_receive_buffer_size_bytes: 5400000
packet_mtu_size: 1500
launch_hw: true
setup_sensor: true
udp_only: false
frame_id: hesai
diag_span: 1000
correction_file: $(find-pkg-share nebula_hesai_decoders)/calibration/$(var sensor_model).dat
min_range: 0.3
max_range: 300.0
cloud_min_angle: 30
cloud_max_angle: 150
sync_angle: 30
cut_angle: 150.0
sensor_model: AT128P
calibration_download_enabled: true
rotation_speed: 200
return_mode: Dual
ptp_profile: automotive
ptp_domain: 0
ptp_transport_type: L2
ptp_switch_type: TSN
ptp_lock_threshold: 100
retry_hw: true
dual_return_distance_threshold: 0.1
diagnostics:
pointcloud_publish_rate:
frequency_ok:
min_hz: 9.5
max_hz: 10.5
frequency_warn:
min_hz: 9.0
max_hz: 11.0
packet_loss:
error_threshold: 10
42 changes: 42 additions & 0 deletions src/nebula_hesai/nebula_hesai/config/FTX140.param.yaml
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/**:
ros__parameters:
host_ip: 192.168.1.10
sensor_ip: 192.168.1.201
multicast_ip: ""
data_port: 2368
gnss_port: 10110
udp_socket_receive_buffer_size_bytes: 5400000
packet_mtu_size: 1500
launch_hw: true
setup_sensor: false
udp_only: false
frame_id: hesai
diag_span: 1000
correction_file: $(find-pkg-share nebula_hesai_decoders)/calibration/$(var sensor_model).dat
min_range: 0.3
max_range: 300.0
cloud_min_angle: 0
cloud_max_angle: 360
sync_angle: 0
cut_angle: 0.0
sensor_model: FTX140
calibration_download_enabled: true
rotation_speed: 600
return_mode: First
ptp_profile: automotive
ptp_domain: 0
ptp_transport_type: L2
ptp_switch_type: TSN
ptp_lock_threshold: 100
retry_hw: true
dual_return_distance_threshold: 0.1
diagnostics:
pointcloud_publish_rate:
frequency_ok:
min_hz: 9.5
max_hz: 10.5
frequency_warn:
min_hz: 9.0
max_hz: 11.0
packet_loss:
error_threshold: 10
12 changes: 9 additions & 3 deletions src/nebula_hesai/nebula_hesai/examples/hesai_ros_offline_extract_bag_pcd.cpp
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Expand Up @@ -57,7 +57,9 @@ HesaiRosOfflineExtractBag::HesaiRosOfflineExtractBag(
sensor_cfg_ptr_ = std::make_shared<drivers::HesaiSensorConfiguration>(sensor_configuration);

RCLCPP_INFO_STREAM(this->get_logger(), this->get_name() << ". Driver ");
if (sensor_configuration.sensor_model == drivers::SensorModel::HESAI_PANDARAT128) {
if (
sensor_configuration.sensor_model == drivers::SensorModel::HESAI_PANDARAT128 ||
sensor_configuration.sensor_model == drivers::SensorModel::HESAI_AT128P) {
correction_cfg_ptr_ = std::make_shared<drivers::HesaiCorrection>(correction_configuration);
wrapper_status_ = initialize_driver(
std::const_pointer_cast<drivers::SensorConfigurationBase>(sensor_cfg_ptr_),
Expand Down Expand Up @@ -131,7 +133,9 @@ Status HesaiRosOfflineExtractBag::get_parameters(

calibration_configuration.calibration_file =
this->declare_parameter<std::string>("calibration_file", "", param_read_only());
if (sensor_configuration.sensor_model == drivers::SensorModel::HESAI_PANDARAT128) {
if (
sensor_configuration.sensor_model == drivers::SensorModel::HESAI_PANDARAT128 ||
sensor_configuration.sensor_model == drivers::SensorModel::HESAI_AT128P) {
correction_file_path_ =
this->declare_parameter<std::string>("correction_file", "", param_read_only());
}
Expand Down Expand Up @@ -172,7 +176,9 @@ Status HesaiRosOfflineExtractBag::get_parameters(
return cal_status;
}
}
if (sensor_configuration.sensor_model == drivers::SensorModel::HESAI_PANDARAT128) {
if (
sensor_configuration.sensor_model == drivers::SensorModel::HESAI_PANDARAT128 ||
sensor_configuration.sensor_model == drivers::SensorModel::HESAI_AT128P) {
if (correction_file_path_.empty()) {
return Status::INVALID_CALIBRATION_FILE;
} else {
Expand Down
12 changes: 9 additions & 3 deletions src/nebula_hesai/nebula_hesai/examples/hesai_ros_offline_extract_pcd.cpp
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Expand Up @@ -53,7 +53,9 @@ HesaiRosOfflineExtractSample::HesaiRosOfflineExtractSample(
sensor_cfg_ptr_ = std::make_shared<drivers::HesaiSensorConfiguration>(sensor_configuration);

RCLCPP_INFO_STREAM(this->get_logger(), this->get_name() << ". Driver ");
if (sensor_configuration.sensor_model == drivers::SensorModel::HESAI_PANDARAT128) {
if (
sensor_configuration.sensor_model == drivers::SensorModel::HESAI_PANDARAT128 ||
sensor_configuration.sensor_model == drivers::SensorModel::HESAI_AT128P) {
correction_cfg_ptr_ = std::make_shared<drivers::HesaiCorrection>(correction_configuration);
wrapper_status_ = initialize_driver(
std::const_pointer_cast<drivers::SensorConfigurationBase>(sensor_cfg_ptr_),
Expand Down Expand Up @@ -114,7 +116,9 @@ Status HesaiRosOfflineExtractSample::get_parameters(

calibration_configuration.calibration_file =
declare_parameter<std::string>("calibration_file", "", param_read_only());
if (sensor_configuration.sensor_model == drivers::SensorModel::HESAI_PANDARAT128) {
if (
sensor_configuration.sensor_model == drivers::SensorModel::HESAI_PANDARAT128 ||
sensor_configuration.sensor_model == drivers::SensorModel::HESAI_AT128P) {
correction_file_path_ =
declare_parameter<std::string>("correction_file", "", param_read_only());
}
Expand Down Expand Up @@ -146,7 +150,9 @@ Status HesaiRosOfflineExtractSample::get_parameters(
return cal_status;
}
}
if (sensor_configuration.sensor_model == drivers::SensorModel::HESAI_PANDARAT128) {
if (
sensor_configuration.sensor_model == drivers::SensorModel::HESAI_PANDARAT128 ||
sensor_configuration.sensor_model == drivers::SensorModel::HESAI_AT128P) {
if (correction_file_path_.empty()) {
return Status::INVALID_CALIBRATION_FILE;
} else {
Expand Down
2 changes: 2 additions & 0 deletions src/nebula_hesai/nebula_hesai/launch/hesai_launch_all_hw.xml
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Expand Up @@ -5,6 +5,8 @@
<choice value="Pandar64" />
<choice value="Pandar128E4X" />
<choice value="PandarAT128" />
<choice value="AT128P" />
<choice value="FTX140" />
<choice value="PandarQT64" />
<choice value="PandarQT128" />
<choice value="PandarXT16" />
Expand Down
2 changes: 1 addition & 1 deletion src/nebula_hesai/nebula_hesai/launch/hesai_offline.xml
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<?xml version="1.0"?>
<launch>
<arg name="sensor_model" description="Pandar64|Pandar40P|PandarXT16|PandarXT32|PandarXT32M|PandarAT128|PandarQT64"/>
<arg name="sensor_model" description="Pandar64|Pandar40P|PandarXT16|PandarXT32|PandarXT32M|PandarAT128|AT128P|FTX140|PandarQT64"/>
<arg name="return_mode" default="Dual" description="See readme for supported return modes"/>
<arg name="frame_id" default="hesai"/>
<arg name="scan_phase" default="0.0" />
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2 changes: 1 addition & 1 deletion src/nebula_hesai/nebula_hesai/launch/hesai_offline_bag_pcd.xml
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Expand Up @@ -6,7 +6,7 @@
<arg name="forward_packets_to_rosbag" default="false" description="Whether to copy the input packets to the output RosBag"/>

<!-- sensor related configuration -->
<arg name="sensor_model" description="Pandar64|Pandar40P|PandarXT16|PandarXT32|PandarXT32M|PandarAT128|PandarQT64|Pandar128E4X"/>
<arg name="sensor_model" description="Pandar64|Pandar40P|PandarXT16|PandarXT32|PandarXT32M|PandarAT128|AT128P|FTX140|PandarQT64|Pandar128E4X"/>
<arg name="lidar_parameter_file" default="$(find-pkg-share nebula_hesai)/config/$(var sensor_model).param.yaml" description="Path: LiDAR configuration yaml"/>

<!-- output sample number configuration -->
Expand Down
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