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 |
---|---|---|
|
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.