diff --git a/nebula_ros/launch/hesai_launch_component.launch.xml b/nebula_ros/launch/hesai_launch_component.launch.xml
new file mode 100644
index 000000000..eb7154777
--- /dev/null
+++ b/nebula_ros/launch/hesai_launch_component.launch.xml
@@ -0,0 +1,80 @@
+<?xml version="1.0"?>
+<launch>
+
+    <arg name="launch_hw" default="true" />
+    <arg name="sensor_model" description="Pandar64|Pandar40P|PandarXT32|PandarXT32M|PandarAT128|PandarQT64|PandarQT128|Pandar128E4X"/>
+    <arg name="return_mode" default="Dual" description="See readme for supported return modes"/>
+    <arg name="frame_id"  default="hesai"/>
+    <arg name="scan_phase" default="0.0" />
+
+    <arg name="packet_mtu_size" default="1500" description="Packet MTU size"/>
+    <arg name="dual_return_distance_threshold" default="0.1" description="Distance threshold of dual return mode"/>
+
+    <arg name="calibration_file" default="$(find-pkg-share nebula_decoders)/calibration/hesai/$(var sensor_model).csv"/>
+    <arg name="correction_file" default="$(find-pkg-share nebula_decoders)/calibration/hesai/$(var sensor_model).dat"/>
+
+    <arg name="sensor_ip" default="192.168.1.201" description="Lidar Sensor IP"/>
+    <arg name="host_ip" default="255.255.255.255" description="Broadcast IP from Sensor"/>
+    <arg name="data_port" default="2368" description="LiDAR Data Port"/>
+    <arg name="gnss_port" default="2369" description="LiDAR GNSS Port"/>
+    <arg name="packet_mtu_size" default="1500" description="Packet MTU size"/>
+    <arg name="rotation_speed" default="600" description="Motor RPM, the sensor's internal spin rate."/>
+    <arg name="cloud_min_angle" default="0" description="Field of View, start degrees."/>
+    <arg name="cloud_max_angle" default="360" description="Field of View, end degrees."/>
+    <arg name="dual_return_distance_threshold" default="0.1" description="Distance threshold of dual return mode"/>
+    <arg name="diag_span" default="1000" description="milliseconds"/>
+
+    <arg name="setup_sensor" default="True" description="Enable sensor setup on hw-driver."/>
+    <arg name="delay_hw_ms" default="1000" description="hw driver startup delay in milliseconds."/>
+    <arg name="delay_monitor_ms" default="2000" description="hw monitor startup delay in milliseconds."/>
+    <arg name="retry_hw" default="True" description="hw driver startup retry (false when using pcap)."/>
+
+
+    <group>
+        <node_container pkg="rclcpp_components" exec="component_container_mt" name="PandarContainer" namespace="/">
+            <composable_node pkg="nebula_ros"
+                             plugin="HesaiDriverRosWrapper"
+                             name="pandar_driver"
+                             namespace="">
+                <param name="sensor_model" value="$(var sensor_model)"/>
+                <param name="return_mode" value="$(var return_mode)"/>
+                <param name="frame_id" value="$(var frame_id)"/>
+                <param name="scan_phase" value="$(var scan_phase)"/>
+                <param name="sensor_ip" value="$(var sensor_ip)"/>
+                <param name="calibration_file" value="$(var calibration_file)"/>
+                <param name="correction_file" value="$(var correction_file)"/>
+                <param name="launch_hw" value="$(var launch_hw)"/>
+                <extra_arg name="use_intra_process_comms" value="true" />
+            </composable_node>
+        </node_container>
+    </group>
+
+    <group if="$(var launch_hw)">
+        <load_composable_node target="PandarContainer">
+            <composable_node pkg="nebula_ros"
+                             plugin="HesaiHwInterfaceRosWrapper"
+                             name="PandarHw"
+                             namespace="/">
+                <param name="sensor_model" value="$(var sensor_model)"/>
+                <param name="return_mode" value="$(var return_mode)"/>
+                <param name="frame_id" value="$(var frame_id)"/>
+                <param name="scan_phase" value="$(var scan_phase)"/>
+                <param name="sensor_ip" value="$(var sensor_ip)"/>
+                <param name="frame_id" value="$(var frame_id)"/>
+                <param name="host_ip" value="$(var host_ip)"/>
+                <param name="data_port" value="$(var data_port)"/>
+                <param name="gnss_port" value="$(var gnss_port)"/>
+                <param name="packet_mtu_size" value="$(var packet_mtu_size)"/>
+                <param name="rotation_speed" value="$(var rotation_speed)"/>
+                <param name="cloud_min_angle" value="$(var cloud_min_angle)"/>
+                <param name="cloud_max_angle" value="$(var cloud_max_angle)"/>
+                <param name="dual_return_distance_threshold" value="$(var dual_return_distance_threshold)"/>
+                <param name="setup_sensor" value="$(var setup_sensor)"/>
+                <param name="delay_hw_ms" value="$(var delay_hw_ms)"/>
+                <param name="retry_hw" value="$(var retry_hw)"/>
+                <extra_arg name="use_intra_process_comms" value="true" />
+            </composable_node>
+        </load_composable_node>
+    </group>
+
+</launch>
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