diff --git a/nebula_tests/data/hesai/ot128/1730271167765338806/1730271167765338806_0.db3 b/nebula_tests/data/hesai/ot128/1730271167765338806/1730271167765338806_0.db3
new file mode 100644
index 000000000..b59012187
Binary files /dev/null and b/nebula_tests/data/hesai/ot128/1730271167765338806/1730271167765338806_0.db3 differ
diff --git a/nebula_tests/data/hesai/ot128/1730271167765338806/metadata.yaml b/nebula_tests/data/hesai/ot128/1730271167765338806/metadata.yaml
new file mode 100644
index 000000000..ee72ff517
--- /dev/null
+++ b/nebula_tests/data/hesai/ot128/1730271167765338806/metadata.yaml
@@ -0,0 +1,26 @@
+rosbag2_bagfile_information:
+  version: 5
+  storage_identifier: ""
+  duration:
+    nanoseconds: 98498380
+  starting_time:
+    nanoseconds_since_epoch: 1730271167765338806
+  message_count: 2
+  topics_with_message_count:
+    - topic_metadata:
+        name: /pandar_packets
+        type: pandar_msgs/msg/PandarScan
+        serialization_format: cdr
+        offered_qos_profiles: "- history: 1\n  depth: 5\n  reliability: 2\n  durability: 2\n  deadline:\n    sec: 9223372036\n    nsec: 854775807\n  lifespan:\n    sec: 9223372036\n    nsec: 854775807\n  liveliness: 1\n  liveliness_lease_duration:\n    sec: 9223372036\n    nsec: 854775807\n  avoid_ros_namespace_conventions: false"
+      message_count: 2
+  compression_format: ""
+  compression_mode: ""
+  relative_file_paths:
+    - 1730271167765338806_0.db3
+  files:
+    - path: 1730271167765338806_0.db3
+      starting_time:
+        nanoseconds_since_epoch: 1730271167765338806
+      duration:
+        nanoseconds: 98498380
+      message_count: 2
diff --git a/nebula_tests/data/hesai/ot128/1730271167863837186.pcd b/nebula_tests/data/hesai/ot128/1730271167863837186.pcd
new file mode 100644
index 000000000..6c32cca99
Binary files /dev/null and b/nebula_tests/data/hesai/ot128/1730271167863837186.pcd differ
diff --git a/nebula_tests/data/hesai/qt128/1730273789074637152/1730273789074637152_0.db3 b/nebula_tests/data/hesai/qt128/1730273789074637152/1730273789074637152_0.db3
new file mode 100644
index 000000000..1985bf351
Binary files /dev/null and b/nebula_tests/data/hesai/qt128/1730273789074637152/1730273789074637152_0.db3 differ
diff --git a/nebula_tests/data/hesai/qt128/1730273789074637152/metadata.yaml b/nebula_tests/data/hesai/qt128/1730273789074637152/metadata.yaml
new file mode 100644
index 000000000..d3f215806
--- /dev/null
+++ b/nebula_tests/data/hesai/qt128/1730273789074637152/metadata.yaml
@@ -0,0 +1,26 @@
+rosbag2_bagfile_information:
+  version: 5
+  storage_identifier: ""
+  duration:
+    nanoseconds: 100122457
+  starting_time:
+    nanoseconds_since_epoch: 1730273789074637152
+  message_count: 2
+  topics_with_message_count:
+    - topic_metadata:
+        name: /pandar_packets
+        type: pandar_msgs/msg/PandarScan
+        serialization_format: cdr
+        offered_qos_profiles: "- history: 1\n  depth: 5\n  reliability: 2\n  durability: 2\n  deadline:\n    sec: 9223372036\n    nsec: 854775807\n  lifespan:\n    sec: 9223372036\n    nsec: 854775807\n  liveliness: 1\n  liveliness_lease_duration:\n    sec: 9223372036\n    nsec: 854775807\n  avoid_ros_namespace_conventions: false"
+      message_count: 2
+  compression_format: ""
+  compression_mode: ""
+  relative_file_paths:
+    - 1730273789074637152_0.db3
+  files:
+    - path: 1730273789074637152_0.db3
+      starting_time:
+        nanoseconds_since_epoch: 1730273789074637152
+      duration:
+        nanoseconds: 100122457
+      message_count: 2
diff --git a/nebula_tests/data/hesai/qt128/1730273789174759609.pcd b/nebula_tests/data/hesai/qt128/1730273789174759609.pcd
new file mode 100644
index 000000000..0a19b6a46
Binary files /dev/null and b/nebula_tests/data/hesai/qt128/1730273789174759609.pcd differ
diff --git a/nebula_tests/hesai/hesai_ros_decoder_test_main.cpp b/nebula_tests/hesai/hesai_ros_decoder_test_main.cpp
index ad72babc7..1b98f91fe 100644
--- a/nebula_tests/hesai/hesai_ros_decoder_test_main.cpp
+++ b/nebula_tests/hesai/hesai_ros_decoder_test_main.cpp
@@ -24,7 +24,7 @@
 namespace nebula::test
 {
 
-const nebula::ros::HesaiRosDecoderTestParams TEST_CONFIGS[6] = {
+const nebula::ros::HesaiRosDecoderTestParams TEST_CONFIGS[8] = {
   {"Pandar40P", "Dual", "Pandar40P.csv", "40p/1673400149412331409", "hesai", 0, 0.0, 0., 360., 0.3f,
    200.f},
   {"Pandar64", "Dual", "Pandar64.csv", "64/1673403880599376836", "hesai", 0, 0.0, 0., 360., 0.3f,
@@ -36,7 +36,11 @@ const nebula::ros::HesaiRosDecoderTestParams TEST_CONFIGS[6] = {
   {"PandarXT32", "Dual", "PandarXT32.csv", "xt32/1673400677802009732", "hesai", 0, 0.0, 0., 360.,
    0.05f, 120.f},
   {"PandarXT32M", "LastStrongest", "PandarXT32M.csv", "xt32m/1660893203042895158", "hesai", 0, 0.0,
-   0., 360., 0.5f, 300.f}};
+   0., 360., 0.5f, 300.f},
+  {"PandarQT128", "LastStrongest", "PandarQT128.csv", "qt128/1730273789074637152", "hesai", 0, 0.0,
+   0., 360., 0.3f, 300.f},
+  {"Pandar128E4X", "LastStrongest", "Pandar128E4X.csv", "ot128/1730271167765338806", "hesai", 0,
+   0.0, 0., 360., 0.3f, 300.f}};
 
 // Compares geometrical output of decoder against pre-recorded reference pointcloud.
 TEST_P(DecoderTest, TestPcd)