YDLIDAR

ROS 2 package for YDLIDAR sensors.

Build

Build from your ROS 2 workspace root:

colcon build --packages-select ydlidar

Run

Run the driver with the default parameters:

ros2 run ydlidar ydlidar_node

Launch the driver with the packaged ROS 2 launch file:

ros2 launch ydlidar lidar.launch.py

Launch the driver and RViz2 together:

ros2 launch ydlidar lidar_view.launch.py

Override parameters from the CLI:

ros2 run ydlidar ydlidar_node --ros-args -p port:=/dev/ttyUSB0 -p frame_id:=laser_frame

Use an alternate parameter file:

ros2 launch ydlidar lidar.launch.py params_file:=/path/to/ydlidar.yaml

Parameters

port (string, default: /dev/ydlidar)

Serial port name used in your system.

baudrate (int, default: 115200)

Serial port baud rate.

frame_id (string, default: laser_frame)

Frame ID for the device.

low_exposure (bool, default: false)

Indicates whether the LIDAR has low light power mode.

angle_fixed (bool, default: true)

Indicates whether the driver needs angle compensation.

heartbeat (bool, default: false)

Indicates whether heartbeat protection is enabled.

resolution_fixed (bool, default: true)

Indicates whether the LIDAR has a fixed angular resolution.

angle_min (double, default: -180.0)

Minimum valid angle in degrees for LIDAR data.

angle_max (double, default: 180.0)

Maximum valid angle in degrees for LIDAR data.

range_min (double, default: 0.08)

Minimum valid range in meters for LIDAR data.

range_max (double, default: 16.0)

Maximum valid range in meters for LIDAR data.

ignore_array (string, default: "")

Comma-separated angle ranges to zero out.

samp_rate (int, default: 9)

LIDAR sampling frequency.

frequency (double, default: 7.0)

LIDAR scanning frequency.

range_error (double, default: 0.2)

Range correction error value.

range_at_error (double, default: 4.0)

Reference distance used by the range correction model.

baseline (double, default: 0.035)

Baseline used by the range correction model.