Running Nebula

Launch with default parameters

To launch Nebula as a ROS 2 node with default parameters for your sensor model:

ros2 launch nebula nebula_launch.py sensor_model:=*sensor_model_name*

For example, for a Hesai Pandar40P sensor:

ros2 launch nebula nebula_launch.py sensor_model:=Pandar40P

You can also use vendor-specific launch files directly:

ros2 launch nebula_<vendor> <vendor>_launch_all_hw.xml sensor_model:=*sensor_model_name*

For example:

ros2 launch nebula_hesai hesai_launch_all_hw.xml sensor_model:=Pandar40P

Refer to the list of supported sensors for more information on the available sensors and configuration options.

WIP