Skip to main content
Version: ROS 2 Humble

2D Lidar

Two dimensional LiDARs provide a single planar scan, which is pusblished as a sensor_msgs/LaserScan message. It is important to accurately position the scanner in the visual description of the robot to ensure that the scanned plane is accurate with respect to the robot.

Hokuyo UST​

lidar2d:
  - model: hokuyo_ust
    urdf_enabled: true
    launch_enabled: true
    parent: base_link
    xyz: [0.0, 0.0, 0.0]
    rpy: [0.0, 0.0, 0.0]
    ros_parameters:
      urg_node:
        laser_frame_id: lidar2d_0_laser
        ip_address: 192.168.131.20
        ip_port: 10940
        angle_min: -2.356
        angle_max: 2.356

Package and Setup​

The Hokuyo UST uses the urg_node ROS 2 package. The driver is open source, maintained by the ROS community, and hosted on GitHub.

For more specifics on the way the Clearpath's configuration system launches the driver, see the Hokuyo UST launch file and the default parameter file in clearpath_sensors.

SICK LMS1xx​

lidar2d:
  - model: sick_lms1xx
    urdf_enabled: true
    launch_enabled: true
    parent: base_link
    xyz: [0.0, 0.0, 0.0]
    rpy: [0.0, 0.0, 0.0]
    ros_parameters:
      lms1xx:
        frame_id: lidar2d_0_laser
        host: 192.168.131.20
        port: 2111

Package and Setup​

The SICK LMS1xx laser scan uses the lms1xx ROS 2 package. The driver is open source, maintained by Clearpath, and hosted on GitHub.

For more specifics on the way Clearpath's configuration system launches the lms1xx driver, see the SICK LMS1xx launch file and the default parameter file in clearpath_sensors.

Last updated on