isaac_ros_hesai

Source code on 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.