Attention

As of June 30, 2025, the Isaac ROS Buildfarm for Isaac ROS 2.1 on Ubuntu 20.04 Focal is no longer supported.

Due to an isolated infrastructure event, all ROS 2 Humble Debian packages that were previously built for Ubuntu 20.04 are no longer available in the Isaac Apt Repository. All artifacts for Isaac ROS 3.0 and later are built and maintained with a more robust pipeline.

Users are encouraged to migrate to the latest version of Isaac ROS. The source code for Isaac ROS 2.1 continues to be available on the release-2.1 branches of the Isaac ROS GitHub repositories.

The original documentation for Isaac ROS 2.1 is preserved below.

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.