Hesai LiDAR Setting

This chapter provides instructions on how to adjust settings of your Hesai LiDARs.

Default network settings

By default, all Hesai LiDARs are set with the following:

• IPv4 Address: 192.168.1.201
• LiDAR Destination Port: 2368

In case you do not know your device's network settings, you can follow these instructions.

Change network settings

Hesai used to provide a web interface for changing LiDAR configurations. However, for new products, they have started providing an application program instead of a web interface. In this section, Seoulrobotics will explain how to change the network settings of the LiDAR using both the web interface and the application program.

Web interface

1. Power the LiDAR and connect it to your computer
2. Set the computer's IP address in the same subnet as the Hesai LiDAR
3. In a browser, type the LiDAR's IP address
4. In the console, navigate to Settings
5. In IPv4 Address, enter the desired IP address for the LiDAR
6. In LiDAR Destination Port, enter the desired Port
7. At the bottom of the page, click Save.

Application program

1. Power the LiDAR and connect it to your computer
2. Set the computer's IP address in the same subnet as the Hesai LiDAR
3. Download application program
   • Ubuntu 20.04
   • Window
4. Open application program
   • Ubuntu: Open the terminal and use the command to open the file.

   ./{Downloaded file name}

   • Window: Double-click the download program file.
5. Set LiDAR IP in program main screen and click Connect button
6. If the LiDAR is successfully connected to the program, you can view the corresponding screen. 7.Click on the Setting tab.
7. Enter the desired IP address for the LiDAR in Control IP > IP Address 9.Enter the desired Port in Destination IP > LiDAR Destination Port

Limit the Azimuth FOV

To reduce data traffic, Hesai 360 degree LiDARs natively integrate a function for ignoring pointcloud data from areas that do need to be monitored. This function is based on limiting the Azimuth FOV. By limiting the FOV of Hesai LiDAR to a specific angle range, the amount of data sent by your LiDAR will be reduced using less computing power and network bandwidth.

1. Go to Hesai's web controller page by opening web browser and entering your LiDAR's IP address.
2. Go to Azimuth FOV tab and put the numbers for 'Start' and 'End' corresponding to the angles that you want to see. (default values are 0 and 360, respectively.)
3. Change 'start_angle' for the sensor in Project Setup mode as shown on the picture below.
   • Keep in mind that 'start angle' should be in the range of from 'start' and 'end' recorded in Hesai web controller.
     • For example, assuming A : 'start' value in Hesai web controller, B : 'start angle' in Sensor setting, C : 'end' value in Hesai web controller. Values should be as follows A < B < C.
4. You can make sure the settings have been appplied by checking the shape of the Point Cloud in SENSR.