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
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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.