<launch>
  <node pkg="hesai_ros_driver" name="hesai_ros_driver_node" type="hesai_ros_driver_node" output="screen">
  </node>
  <!-- rviz -->
  <node pkg="rviz" name="rviz" type="rviz" args="-d '$(find hesai_ros_driver)/rviz/rviz.rviz'" required="true"/>
</launch>
