ROS 2 integration architecture
Driver, topics et QoS
Check the vendor ROS 2 package, sensor_msgs output, QoS profile and sustained publish rate.
TF, horodatage et synchronisation
Define base_link and lidar frames, validate timestamps, then synchronize IMU and odometry before SLAM.
Compatible LiDAR sensors
12 catalog products match these criteria.
Ultra Puck VLP-32C
200 m · ROS drivers (community)
SlamtecRPLIDAR A3
25 m · ROS driver (open source)
BlickfeldQbBasic
1-100 m · ROS 2 support
SlamtecRPLIDAR S3
40 m · Oui (ROS1+ROS2)
LivoxAvia
190 m @10% / 450 m @80% · Livox SDK and ROS drivers
HesaiAT512
400 m · Oui (ROS1+ROS2)
HesaiOT128
200 m @10% (230 m max) · Vendor SDK and ROS drivers
RoboSenseMX
200 m · Oui (ROS1+ROS2)
SlamtecRPLIDAR A1
12 m · ROS driver (open source)
VelodynePuck VLP-16
100 m · ROS drivers (community)
HokuyoUST-15LX
15 m · Hokuyo ROS driver
BlickfeldQb2
1-100 m (typ. 40-60 m) · ROS 2 support
Related guides and articles
Choosing a LiDAR for a mobile robot
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LiDAR integration checklist before prototyping
A practical checklist to avoid mechanical, electrical, network and data blockers during first LiDAR integration.
Integrating a LiDAR in ROS2: Complete Guide
Step-by-step guide to integrate an Ouster, Hesai, Livox or SICK LiDAR into ROS2 (Humble/Iron/Jazzy): driver installation, network setup, PTP, QoS, launch files, RViz2 visualization, SLAM and sensor fusion.
LiDAR FAQ: 20 Questions and Answers to Understand Everything
Everything you need to know about LiDAR in 20 technical questions: range, FoV, solid-state vs mechanical, FMCW, ROS, SLAM, pricing, accuracy, eye safety and more.
Understanding LiDAR Data: Point Clouds, Formats and ROS
Point clouds, intensity, multiple echoes, PCD/LAS/ROSbag formats — everything you need to know to work with raw LiDAR sensor data.
LiDAR Market 2026: Key Figures, Trends and Outlook
Complete analysis of the LiDAR market in 2026: $3.32B revenue, 18.6% CAGR, Chinese production at 4M units/year, robotics explosion (+1458% RoboSense), Physical AI pivot, Ouster REV8, Hesai ATX.
FAQ
Which ROS 2 messages should a LiDAR publish?
A 3D LiDAR generally publishes sensor_msgs/PointCloud2. A 2D scanner often uses sensor_msgs/LaserScan, with consistent timestamps and frame_id values.
How do you connect the LiDAR frame to base_link?
Measure the sensor pose and publish a static TF transform between base_link and the LiDAR frame. Validate its orientation in RViz before running SLAM.
Does a ROS 1 driver work with ROS 2?
Not directly. Prefer a maintained ROS 2 driver; a bridge can help temporarily but adds complexity and must be tested at the sensor data rate.