============== |package_name| ============== :ir_github:` ` API ---- HesaiNode ~~~~~~~~~ ROS Topics Published ^^^^^^^^^^^^^^^^^^^^ ================== ==================================================================================================================================================================== ==================================================== ROS Topic Interface Description ================== ==================================================================================================================================================================== ==================================================== ``pointcloud`` `sensor_msgs/PointCloud2 `__ The point cloud from the Hesai lidar ================== ==================================================================================================================================================================== ==================================================== Output PointCloud2 Format ^^^^^^^^^^^^^^^^^^^^^^^^^ The Isaac ROS Hesai Node publishes to the ``PointCloud2 msg`` with the following fields: ================== ========== =============== Field Description Type Number of Bytes Description ================== ========== =============== X point position Float 4 Y point position Float 4 Z point position Float 4 RGB(Ignore) Float 4 ================== ========== =============== .. note:: The RGB data in this message should be ignored. It is present to allow for a common colored pointcloud interface with Isaac ROS NITROS. The points are in clock wise order starting from the Hesai logo on the lidar. .. |package_name| replace:: ``isaac_ros_hesai``