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Function Introduction

YDLIDAR ROS2 driver sends LiDAR data in ROS2 standard message format.

Inventory

For a comprehensive list of product models, please refer to YDLIDAR official website. Here we use YDLIDAR X3 as an example for demonstration.

Item Options	List
RDK X3	Purchase Link
YDLIDAR X3	Purchase Link

Instructions

Preparation

1. Horizon RDK has been pre-installed with the provided Ubuntu 20.04 system image.

2. YDLIDAR is properly connected to RDK X3.

Installing YDLIDAR Driver

Connect to RDK X3 via terminal or VNC, and execute the following commands:

tros foxy:

sudo apt update
sudo apt install -y tros-ydlidar-ros2-driver

tros humble:

sudo apt update
sudo apt install -y tros-humble-ydlidar-ros2-driver

Note: If YDLIDAR is connected to RDK X3 during the installation, it needs to be reconnected after installation

Running YDLIDAR

tros foxy:

source /opt/tros/setup.bash
ros2 launch ydlidar_ros2_driver ydlidar_launch.py

tros humble:

source /opt/tros/humble/setup.bash
ros2 launch ydlidar_ros2_driver ydlidar_launch.py

Viewing LiDAR Data

Method 1: Command Line

Open a new terminal and input the following command to view LiDAR output data:

tros foxy:

source /opt/tros/setup.bash
ros2 topic echo /scan

tros humble:

source /opt/tros/humble/setup.bash
ros2 topic echo /scan

Method 2 RVIZ Method

Install ROS2 on a PC or environment supporting RVIZ. Here is an example using the foxy version, run the following commands:

tros foxy:

source /opt/ros/foxy/setup.bash
ros2 run rviz2 rviz2

tros humble:

source /opt/ros/humble/setup.bash
ros2 run rviz2 rviz2

Add LaserScan and configure the Reliability Policy as System Default.

Set the Fixed Frame as base_link or laser_link to see the data collected by the LiDAR.

Interface Description

Topics

Published Topics

Topic	Type	Description
scan	sensor_msgs/LaserScan	Two-dimensional LaserScan data

Services

Subscribed Services

Service	Type	Description
stop_scan	std_srvs::Empty	Stop the LiDAR
start_scan	std_srvs::Empty	Start the LiDAR

Parameters

Parameter name	Data Type	detail
port	string	Set the port of the LiDAR device Example: /dev/ttyUSB0 for serial port, 192.168.1.11 for ethernet port, default value: /dev/ydlidar
frame_id	string	Frame name, default value: laser_frame
ignore_array	string	Filter measurement points eg: -90, -80, 30, 40
baudrate	int	Serial port baudrate Default value: 230400
lidar_type	int	LiDAR model 0 -- TYPE_TOF 1 -- TYPE_TRIANGLE 2 -- TYPE_TOF_NET Default value: 1
device_type	int	Device communication type 0 -- YDLIDAR_TYPE_SERIAL 1 -- YDLIDAR_TYPE_TCP 2 -- YDLIDAR_TYPE_UDP Default value: 0
sample_rate	int	Sampling frequency. Default value: 9
abnormal_check_count	int	Retry count when startup fails. Default value: 4
fixed_resolution	bool	Enable correction of angular resolution. Default value: true
reversion	bool	Change scan direction. Default value: true
inverted	bool	Change scan direction, clockwise or counterclockwise. false -- Clockwise. true -- CounterClockwise Default value: true
isSingleChannel	bool	Whether it is a single channel. Default value: false
intensity	bool	Whether the LiDAR outputs measurement intensity. true -- G2 LiDAR. Default value: false
support_motor_dtr	bool	Whether the LiDAR can be started and stopped via serial DTR. Default value: false
angle_min	float	Minimum measurement angle. Default value: -180
angle_max	float	Maximum measurement angle. Default value: 180
range_min	float	Minimum measurement range. Default value: 0.1
range_max	float	Maximum measurement range. Default value: 16.0
frequency	float	Scanning frequency. Default value: 10.0
invalid_range_is_inf	bool	Invalid Range is inf. true -- inf. false -- 0.0. Default value: false