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Hesai JT16 Quick Start Manual

16-channel mechanical lidar
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JT16
16-Channel Mechanical Lidar
Quick Start Guide
Classification: C0 (Public)
Doc version: QSJ03-en-250510

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Summary of Contents for Hesai JT16

  • Page 1 JT16 16-Channel Mechanical Lidar Quick Start Guide Classification: C0 (Public) Doc version: QSJ03-en-250510...

  • Page 2: Table Of Contents

    Table of Contents ■ About this guide ........................ ...

  • Page 3: About This Guide

    Formatting conventions  Warnings Instructions that must be followed to ensure safe and proper use of the product.  Additional information that may be helpful. Notes Distance In monospace font: represents the Distance field. Data fields JT16 | 1...

  • Page 4: Perform An Initial Check

    If your order does not include a power adapter, use a portable power source (12 to 16 V) instead. Operating system: From your side Computer • 64-bit Windows 10/11 • Ubuntu 20.04/22.04/24.04 1.1. Set up the hardware 1.1.1. Connect the cables JT16 | 2...
  • Page 5 1.1. Set up the hardware Figure 1. Connection  The lidar does not have a power switch. It starts transmitting data as soon as it is powered and connected to a host computer. JT16 | 3...

  • Page 6: Install A Driver On Your Computer

    In the local directory, run this command to gain root privileges: sudo su Run this command to compile and install the driver: make all Run this command to to open the kernel modules file in a text editor: sudo gedit /etc/modules JT16 | 4...
  • Page 7 1.1. Set up the hardware Add "pl2303" on a new line at the end of the file > Save and close the text editor Restart the Ubuntu system. Reconnect the USB-to-RS485 cable. JT16 | 5...

  • Page 8: Check The Current Rs485 Port Number

    Press Win + R to open the Run dialog > Type "cmd" and press [ Enter ] Type "mode" and press [ Enter ] Plug and unplug the RS485 cable to find out its serial port number. Format: "COM" + number JT16 | 6...
  • Page 9 Enter "Device Manager" in the search box on the taskbar. Click [ Ports (COM & LPT) ] in the list of devices. Look for the RS485 port. Format: "COM" + number  The port name usually includes the chipset model of a USB-to-RS485 converter. JT16 | 7...

  • Page 10: View Live Point Cloud

    To check all the serial ports again, repeat Step 1. Plug and unplug the RS485 cable to find out its serial port number. Format: "/dev/ttyUSB" + number Repeat Step 2 to gain read and write permissions again. 1.2. View live point cloud JT16 | 8...

  • Page 11: Install Pandarview

    1.2. View live point cloud 1.2.1. Install PandarView 2 PandarView 2 is a software that displays and records point cloud data from Hesai lidars. Ask Hesai technical support to get the installation package. Install PandarView 2.  In Ubuntu, run "PandarView.sh" in a file path that only contains ASCII characters.

  • Page 12: Configure The Network Settings

    1.2. View live point cloud 1.2.2. Configure the network settings In PandarView 2: Click [ Listen for Data ] in the toolbar to open a dialog: Input these parameters: JT16 | 10...
  • Page 13 Click [ OK ] to start viewing live point cloud. Troubleshoot issues  • The live point cloud is blank in PandarView 2. • The live point cloud is abnormal, showing obviously misaligned points, flashing points, or incomplete FOV. JT16 | 11...

  • Page 14: Record A Point Cloud File

    In PandarView 2: Click the [ Record ] button at the bottom left of the window. Specify a file directory. Click [ Save ] to start recording a PCAP file.  When naming PCAP files in Ubuntu, include the filename extension (.pcap). JT16 | 12...

  • Page 15: Play Back A Point Cloud File

    [ Live Streaming ].   Troubleshoot issues When loading a PCAP file, PandarView 2 gives an error message "invalid file; unable to parse file". 3.2. Play the PCAP file Click the [ Play ] button at the bottom left of the window. JT16 | 13...

  • Page 16: Apply Point Cloud Correction

    3.3.1. Apply angle correction (optional)  Purpose: to correct the azimuth and elevation of each data point Contact Hesai technical support to get the angle correction file of your lidar unit. Click [ Correction ] in the toolbar. Click [ Import ] under "Angle Correction".

  • Page 17: Use A Gnss Clock Source

    Section 1 Perform an initial check so that you can view live point cloud. Additional preparation Where Item Notes Should be able to provide these signals: Signal Level Description From your side GNSS module 3.3 V CMOS NMEA RS232 GPRMC or GNRMC JT16 | 15...
  • Page 18 • Should start after the PPS rising edge of the current second. Timing relationship • Should end after the PPS falling edge of the current second. • Should end before the PPS rising edge of the next second; t2 ≥ 500 ms. JT16 | 16...

  • Page 19: Connect The Cables

    4.1. Connect the cables 4.1. Connect the cables Figure 4. Connection  Port B and Port C cannot be used simultaneously. JT16 | 17...

  • Page 20: Check The Timestamp Output Of The Lidar

    4.2. Check the timestamp output of the lidar 4.2. Check the timestamp output of the lidar In PandarView 2: 1. View live point cloud Check if the timestamp is correctly shown at the bottom of the window.: JT16 | 18...

  • Page 21: Clean The Cover Lens

    ◦ If a pressure washer is used to clean the cover lens, make sure the distance between the nozzle and the cover lens remains at least 60 cm. ◦ Using automatic cleaning devices that are not specifically designed for lidars may pose risks. Please contact Hesai technical support for assessment.
  • Page 22 For stubborn stains, cover the dirty area with the dampened sponge or cloth to soften the stains before wiping. Immediately after removing the stains, rinse the cover lens with clean water. Then, use a clean soft sponge or microfiber cloth to gently wipe away any remaining liquid (which may contain residual cleaning agents or contaminants). JT16 | 20...

  • Page 23: Troubleshoot Issues

    6. Troubleshoot issues 6. Troubleshoot issues If these procedures do not resolve your issue, please contact Hesai technical support. The live point cloud is blank in PandarView 2. Verify the network settings. Make sure these conditions are met: ◦ The RS485 port number and baud rate are correct in PandarView 2 network settings.
  • Page 24 ◦ If not, then the file is not in tcpdump PCAP format and is not supported by PandarView 2. ◦ As a temporary solution, import this file into WireShark and export it as a tcpdump PCAP file. JT16 | 22...

  • Page 25: Appendix A: Legal Notice

    HESAI and HESAI logo are registered trademarks of Hesai Technology. All other trademarks, service marks, and company names in this manual or on Hesai's official website are properties of their respective owners.
  • Page 26 Hesai Technology Co., Ltd. Phone: +86 400 805 1233 Business Email: info@hesaitech.comService Website: www.hesaitech.com Email: service@hesaitech.com Address: Building A, Haisu Culture Plaza, Shanghai, China...

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