<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>