[ROS][feat] Add Hesai converter

Goal

Add a converter node between Hesai driver output and Lidar SLAM node

Changes

• Add a new node for Hesai point conversion
  • Based on velodyne node
  • Remove the time of the frame from the time of the points
• Add a launch file slam_hesai with this conversion node
• The hesai point is added to external includes. It is taken from here

Results

Reproduce

Data

LD data from wheezy -> Hesai XT32

Build

catkin build --cmake-args -DCMAKE_BUILD_TYPE=Release

Parameters

No change

Run

roslaunch lidar_slam slam_hesai.launch

rosbag play --clock path/to/hesai_bag.bag

Output

• Here is a resulting map built with this converter.

Checklist

• Camel case everywhere except for ROS variables/parameters
• Lower case for local variables and lambda functions
• Upper case for pour members, methods and tool functions (in Utils)
• Precise namespace when calling a function (or this->X or classe.X)
• Align code (for multiline if and while, "&&" or "||" go in upper line to ensure alignement)
• Space between if, while, for and parenthesis
• Space between operators and variables: e.g. a + b
• Space after ","
• Mind your commit titles/desc (plurals, he/she + "s", correct tags, title should begin by a verb...)
• Function names should start with a verb, variable names should start with a name
• Macros should be between {}
• Do not use negative boolean (i.e. noJoe)
• Check minimal size of the types (double -> float -> int -> uint)
• Check const and ref in functions arguments
• References should be written "type& name", not "type &name"
• Update documentation if needed
• Add MR labels [ROS]/[ROS2]/[PV]
• If ros/ros2, update task table here
• Add a comment over each non trivial function in header files
• Add a header to each new file

What remains to do

WARNING : The dual return mode of Hesai driver is not handled in the converter and can cause the SLAM to have a weird behavior (bad keypoints extraction)