Tutorial on how to setup and use other LiDAR sensors other than mid360

[Lelehel]

Hi!

You advertise your solution as it can use many lidar sensors, but do you have any docs how to use other sensor?
For example, if you want to use a HESAI XT32 with an external IMU, how would one set up this? Where do you input the lidar-imu extrinsics?

Can you elaborate on this?

Thank you!

[JanuszBedkowski]

We do not have documentation yet, to many LiDARs, team to small, once You have specific need just let us know. We will try to help.

[Lelehel]

I do have an XT32M2X lidar coupled with an Xsens Mti-670 AHRS IMU and I record bag files with it. I use FastLIO2 and VoxelSlam, etc. to create odometries and aggregate pointclouds. I also record RTK stream in the bag, everything is time synced PPS.

Your program seems interesting; I just don't know how I can process my data using your apps. Can you help me with that? Maybe it could be beneficial to you as well.

I don't know.... if you don't have the resources to deal with my data, I'll wait until you publish something I can try. I don't have any other choice, I guess.

Have a nice day!

[JanuszBedkowski]

Did You check data converter https://github.com/[MapsHD/mandeye_to_bag](https://github.com/MapsHD/mandeye_to_bag)

1. You can convert raw ROS1 / ROS2 data to hdmapping
2. You can also convert results of other LIO algorithms, please watch movies, check available dockers.

Please specify what You would like to do?

[JanuszBedkowski]

Hi We do not have everything well parametiresed, so maybe You should change code to work with lidar-imu extrinsics. The good news is that I will work on such setup this summer, so please let me know . Meanwhile You can try investigating dockers with LIO Janusz

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On Wed, May 20, 2026 at 11:11 PM Lehel Seres ***@***.***> wrote: *Lelehel* created an issue (MapsHD/HDMapping#430) <#430> Hi! You advertise your solution as it can use many lidar sensors, but do you have any docs how to use other sensor? For example, if you want to use a HESAI XT32 with an external IMU, how would one set up this? Where do you input the lidar-imu extrinsics? Can you elaborate on this? Thank you! — Reply to this email directly, view it on GitHub <#430>, or unsubscribe <https://github.com/notifications/unsubscribe-auth/AAONJDUPRCBYR7NQGOXZJGL43YNRFAVCNFSM6AAAAACZGVZJYKVHI2DSMVQWIX3LMV43ASLTON2WKOZUGQ4DSOJTGM4DEMQ> . Triage notifications on the go with GitHub Mobile for iOS <https://apps.apple.com/app/apple-store/id1477376905?ct=notification-email&mt=8&pt=524675> or Android <https://play.google.com/store/apps/details?id=com.github.android&referrer=utm_campaign%3Dnotification-email%26utm_medium%3Demail%26utm_source%3Dgithub>. You are receiving this because you are subscribed to this thread.Message ID: ***@***.***>