#系统要求
1.ubuntu 18.04
2.PCL库
#使用
mkdir -p catkin_ws/src
cd catkin_ws/src
git clone https://github.com/sjoeycookie/hesai_driver_XT32.git
cd ..
catkin_make
source ./devel/setup.bash
roslaunch hesai_lidar hesai_lidar.launch
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禾塞驱动(基于官方驱动解决坐标轴变换问题，即原坐标轴顺时针变换90度),(同时支持hesai转velodyne点云格式)
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