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
Scegliere un LiDAR per un robot mobile
A practical method to connect robot scenario, field of view, useful range, latency and software integration before choosing a sensor.
Checklist di integrazione LiDAR prima del prototipo
A structured checklist to secure the mechanical, electrical, software and field integration of a LiDAR sensor.
Le famiglie di LiDAR: mechanical spinning, solid-state, semi-solid-state, FMCW ed emisferici
Una guida tecnica completa alle diverse architetture LiDAR — dallo spinning meccanico al FMCW — con principi di funzionamento, vantaggi, limiti e una tabella comparativa.
Integrare un LiDAR in ROS2: guida completa
Guida passo passo per integrare un LiDAR Ouster, Hesai, Livox o SICK in ROS2 (Humble/Iron/Jazzy): installazione dei driver, configurazione di rete, PTP, QoS, lancio, visualizzazione RViz2, SLAM e fusione sensori.
FAQ LiDAR: 20 domande/risposte per capire tutto
Tutto ciò che dovete sapere sul LiDAR in 20 domande tecniche: portata, FoV, solid-state vs meccanico, FMCW, ROS, SLAM, prezzi, precisione, sicurezza oculare e altro.
Comprendere i dati del LiDAR: nuvola di punti, formati e ROS
Nuvole di punti, intensità, riflessioni multiple, formati PCD/LAS/ROSbag — tutto ciò che serve sapere per sfruttare i dati grezzi di un sensore LiDAR.
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.