Hesai to Velodyne

A ros tool for converting Hesai pointcloud to Velodyne pointcloud format, which can be directly used for downstream algorithm, such as LOAM, LEGO-LOAM, LIO-SAM, etc.

Useage

1. XYZIRT input

For XYZIRT format point clouds from /hesai_points (Notice that, you need the latest HesaiLidar_General_ROS driver to get this type of point cloud):

rosrun hesai_to_velodyne hesai_to_velodyne XYZIRT XYZIRT
# or
rosrun hesai_to_velodyne hesai_to_velodyne XYZIRT XYZIR
# or
rosrun hesai_to_velodyne hesai_to_velodyne XYZIRT XYZI

The output point clouds are XYZIRT / XYZIR / XYZI point cloud /velodyne_points in Velodyne’s format.

2. XYZI input

For XYZI format point clouds from hesai_points:

rosrun hesai_to_velodyne hesai_to_velodyne XYZI XYZIR

The output point clouds are XYZIR point cloud /velodyne_points in Velodyne’s format.

Subscribes

/hesai_points: sensor_msgs.PointCloud2, from hesai LiDAR.

Publishes

/velodyne_points: sensor_msgs.PointCloud2, the frame_id is velodyne.

Reference

1. HesaiLidar_General_ROS