ldlidar_ros2

Overview

This SDK applies only to LiDAR products manufactured by Shenzhen LDROBOT Co., LTD. Supported product models:

• LDROBOT LiDAR LD06 (FIPATECH version)
• LDROBOT LiDAR LD19
• LDROBOT LiDAR STL-27L

---

Step 0: Get the LiDAR ROS 2 package

cd ~
mkdir -p ldlidar_ros2_ws/src
cd ldlidar_ros2_ws/src

git clone https://github.com/FIPATECH/ldlidar_ros2.git

---

Step 1: System setup

1. Connect the LiDAR to your system motherboard through:

   • an onboard serial port, or
   • a USB-to-serial converter (e.g. CP2102 module).

2. Set execution permission for the serial device (example: /dev/ttyUSB0):

   cd ~/ldlidar_ros2_ws
   sudo chmod 777 /dev/ttyUSB0

3. Edit the launch file for your specific model and update the serial port path, for example in launch/ld06.launch.py:

   {'port_name': '/dev/ttyUSB0'}

---

Example launch file (ld06.launch.py)

#!/usr/bin/env python3
from launch import LaunchDescription
from launch_ros.actions import Node

def generate_launch_description():
    # LDROBOT LiDAR publisher node
    ldlidar_node = Node(
        package='ldlidar_ros2',
        executable='ldlidar_stl_ros2_node',
        name='LD06',
        output='screen',
        parameters=[
            {'product_name': 'LDLiDAR_LD06'},
            {'topic_name': 'scan'},
            {'frame_id': 'base_laser'},
            {'port_name': '/dev/ttyUSB0'},
            {'port_baudrate': 230400},
            {'laser_scan_dir': True},
            {'enable_angle_crop_func': False},
            {'angle_crop_min': 135.0},
            {'angle_crop_max': 225.0}
        ]
    )

    # base_link to base_laser static transform
    base_link_to_laser_tf_node = Node(
        package='tf2_ros',
        executable='static_transform_publisher',
        name='base_link_to_base_laser_ld06',
        arguments=['0', '0', '0.18', '0', '0', '0', 'base_link', 'base_laser']
    )

    ld = LaunchDescription()
    ld.add_action(ldlidar_node)
    ld.add_action(base_link_to_laser_tf_node)

    return ld

---

Step 2: Build

cd ~/ldlidar_ros2_ws
colcon build

---

Step 3: Run

3.1 — Source environment variables

After compilation, source the environment setup file:

cd ~/ldlidar_ros2_ws
source install/setup.bash

To make this permanent, add it to your .bashrc:

echo "source ~/ldlidar_ros2_ws/install/setup.bash" >> ~/.bashrc
source ~/.bashrc

---

3.2 — Start the LiDAR node

LD06

ros2 launch ldlidar_ros2 ld06.launch.py

or with visualization:

ros2 launch ldlidar_ros2 viewer_ld06.launch.py

LD19

ros2 launch ldlidar_ros2 ld19.launch.py

or with visualization:

ros2 launch ldlidar_ros2 viewer_ld19.launch.py

STL-27L

ros2 launch ldlidar_ros2 stl27l.launch.py

or with visualization:

ros2 launch ldlidar_ros2 viewer_stl27l.launch.py

---

Step 4: Test and visualize

The code is compatible with ROS 2 Foxy and later versions (tested under Humble). Visualization is supported via Rviz2.

To visualize the LiDAR output:

rviz2

Then open the ldlidar.rviz configuration file located in the rviz2/ directory.