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
LivoxAvia
190 m @10% / 450 m @80% · Livox SDK and ROS drivers
HesaiOT128
200 m @10% (230 m max) · Vendor SDK and ROS drivers
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
HesaiATX
230 m @10% · Vendor SDK and ROS drivers
HesaiAT128
210 m · Vendor SDK and ROS drivers
HesaiAT1440
300 m @10% reflectivity · Vendor SDK and ROS drivers
Related guides and articles
Choosing a LiDAR for a mobile robot
A practical method to connect robot scenario, field of view, useful range, latency and software integration before choosing a sensor.
LiDAR integration checklist: what to validate before deployment
A structured checklist to secure the mechanical, electrical, software and field integration of a LiDAR sensor.
Main LiDAR technology families: mechanical, solid-state, MEMS, flash and FMCW
A clear overview of LiDAR architectures to understand their technical trade-offs and typical use cases.
Integrating a LiDAR in ROS2: Complete Guide
Step-by-step guide to integrate an Ouster, Hesai, Livox or SICK LiDAR into ROS2: drivers, network setup, PTP, QoS, RViz2, 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 and eye safety.
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.
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.