[ROS2][feat] Add hesai converter

Goal

Update from MR !369 (merged)

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

hesai_car data from wheezy -> Hesai XT32

Build

colcon build --base-paths ./src/slam/ros2_wrapping --cmake-args -DCMAKE_BUILD_TYPE=Release

Parameters

No change

Run

ros2 launch lidar_slam slam_hesai.launch

ros2 bag play --clock path/to/hesai_bag.bag

Output

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)