https://github.com/tier4/nebula
A universal LiDAR and radar driver for ROS 2, supporting Hesai, Velodyne, Robosense and Continental sensors.
https://github.com/tier4/nebula
autoware continental hesai lidar radar robosense ros2 velodyne
Last synced: 17 days ago
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A universal LiDAR and radar driver for ROS 2, supporting Hesai, Velodyne, Robosense and Continental sensors.
- Host: GitHub
- URL: https://github.com/tier4/nebula
- Owner: tier4
- License: apache-2.0
- Created: 2021-12-17T05:21:17.000Z (over 3 years ago)
- Default Branch: main
- Last Pushed: 2024-10-30T00:04:36.000Z (6 months ago)
- Last Synced: 2024-10-30T02:44:26.694Z (6 months ago)
- Topics: autoware, continental, hesai, lidar, radar, robosense, ros2, velodyne
- Language: C++
- Homepage: https://tier4.github.io/nebula/
- Size: 36.8 MB
- Stars: 49
- Watchers: 33
- Forks: 48
- Open Issues: 30
-
Metadata Files:
- Readme: README.md
- License: LICENSE
- Support: docs/supported_sensors.md
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README
# Nebula
[](https://github.com/tier4/nebula/actions/workflows/build-and-test.yaml)
[](https://github.com/tier4/nebula/actions/workflows/documentation.yml)
[](https://codecov.io/gh/tier4/nebula)
## Welcome to Nebula, the universal sensor driver
Nebula is a sensor driver platform that is designed to provide a unified framework for as wide a variety of devices as possible.
While it primarily targets Ethernet-based LiDAR sensors, it aims to be easily extendable to support new sensors and interfaces.
Nebula works with ROS 2 and is the recommended sensor driver for the [Autoware](https://autoware.org/) project.
## Documentation
We recommend you get started with the [Nebula Documention](https://tier4.github.io/nebula/).
Here you will find information about the background of the project, how to install and use with ROS 2, and also how to add new sensors to the Nebula driver.
- [Design](https://tier4.github.io/nebula/design)
- [Supported Sensors](https://tier4.github.io/nebula/supported_sensors)
- [Installation](https://tier4.github.io/nebula/installation)
- [Launching with ROS 2](https://tier4.github.io/nebula/usage)
- [Parameters](https://tier4.github.io/nebula/parameters)
- [Point cloud types](https://tier4.github.io/nebula/point_types)
- [Contributing](https://tier4.github.io/nebula/contribute)
- [Tutorials](https://tier4.github.io/nebula/tutorials)
To build and serve the documentation locally, see the build steps further below.
## Quick start
Nebula builds with ROS 2 Galactic and Humble.
> **Note**
>
> Boost version 1.74.0 or later is required. A manual install may be required in Ubuntu versions earlier than 22.04.
To build Nebula run the following commands in your workspace:
```bash
# In workspace
git clone https://github.com/tier4/nebula.git
cd nebula
# Import dependencies
vcs import < build_depends.repos
rosdep install --from-paths . --ignore-src -y -r
# Build Nebula
colcon build --symlink-install --cmake-args -DCMAKE_BUILD_TYPE=Release -DCMAKE_EXPORT_COMPILE_COMMANDS=1
```
_(optional)_ To build and serve the documentation, run the following commands in your workspace:
```shell
cd src
pip3 install -r docs/requirements.txt
mkdocs serve
```
To launch Nebula as a ROS 2 node with default parameters for your sensor model:
```bash
ros2 launch nebula_ros *sensor_vendor_name*_launch_all_hw.xml sensor_model:=*sensor_model_name*
```
For example, for a Hesai Pandar40P sensor:
```bash
ros2 launch nebula_ros hesai_launch_all_hw.xml sensor_model:=Pandar40P
```