No version for distro humble showing jazzy. Known supported distros are highlighted in the buttons above.

lgdxrobot2_rplidar_c1 repository

lgdx_rplidar_c1

ROS Distro
jazzy

Repository Summary

Checkout URI	https://gitlab.com/lgdxrobotics/lgdxrobot2-rplidar-c1.git
VCS Type	git
VCS Version	jazzy
Last Updated	2026-07-17
Dev Status	MAINTAINED
Released	UNRELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Packages

Name	Version
lgdx_rplidar_c1	1.0.0

README

lgdx_rplidar_c1

Overview

Screenshot

Release Strategy - Built to Stay Current.

A modern ROS 2 Lyrical (or later) wrapper for the RPLIDAR C1, specifically designed for LGDXRobot2. This package is developed from scratch using C++20 and Boost. It supports composable nodes and is able to reconnect to the RPLIDAR if the connection is lost.

Limitations

While this package may work with other RPLIDAR models by changing the baud rate, there is no guarantee that it will be compatible with them. This package also does not support the following features:

Changing parameters on the fly: Parameters must be set before the node is started.
Reading from RPLIDAR over a network: This package is designed to work only with a serial connection.
DenseBoost scan mode: The RPLIDAR C1 does not support this mode out of the box. Although this package can read data from this mode, the results are not fully tested.

Installation

1.1. APT

Note: This package is only available on packages.lgdxrobot.uk

sudo apt install ros-lyrical-lgdx-rplidar-c1

To add the repository to your system, run the following commands. It supports both AMD64 and ARM64 architectures.

curl -L -s -o /tmp/lgdxrobot-apt-source.deb https://packages.lgdxrobot.uk/lgdxrobot-apt-source.deb
sudo dpkg -i /tmp/lgdxrobot-apt-source.deb
sudo apt update
rm -f /tmp/lgdxrobot-apt-source.deb

1.2. Build from source

This package has been tested on Ubuntu 26.04, but it should work on other operating systems, as no system-specific calls are used.

mkdir -p ~/lgdx_ws/src
cd ~/lgdx_ws/src
git clone https://gitlab.com/lgdxrobotics/lgdxrobot2-rplidar-c1.git
cd ..

# Install build dependencies
rosdep update
rosdep install --from-paths src --ignore-src -y

colcon build --symlink-install

2. Add UDEV rule

curl -L -o rplidar.rules https://gitlab.com/lgdxrobotics/lgdxrobot2-rplidar-c1/-/raw/main/udev/rplidar.rules
sudo cp rplidar.rules /etc/udev/rules.d
sudo service udev reload
sudo service udev restart

3. Launch

. install/setup.bash
ros2 launch lgdx_rplidar_c1 rplidar_c1_launch.py

Delete UDEV rule (Optional)

If you want to delete the UDEV rule, you can do so by running the following command:

sudo rm /etc/udev/rules.d/rplidar.rules
sudo service udev reload
sudo service udev restart

Parameters

Parameter	Type	Description
serial_port	string	RPLIDAR serial port name.
serial_baudrate	int	RPLIDAR serial port baud rate.
frame_id	string	Custom frame ID for the scan data.
inverted	bool	Whether to invert the scan data.
angle_compensate	bool	Publish scan data with a consistent number of points. Disable this option to publish the variable-sized data received directly from the RPLIDAR.
scan_mode	string	RPLIDAR scan mode.

Published Topics

Topic	Type	Description
scan	LaserScan	Scan data of the RPLIDAR.

File truncated at 100 lines see the full file

CONTRIBUTING

lgdxrobot2_rplidar_c1 repository

lgdx_rplidar_c1

ROS Distro
jazzy

Repository Summary

Checkout URI	https://gitlab.com/lgdxrobotics/lgdxrobot2-rplidar-c1.git
VCS Type	git
VCS Version	jazzy
Last Updated	2026-07-17
Dev Status	MAINTAINED
Released	UNRELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Packages

Name	Version
lgdx_rplidar_c1	1.0.0

README

lgdx_rplidar_c1

Overview

Screenshot

Release Strategy - Built to Stay Current.

A modern ROS 2 Lyrical (or later) wrapper for the RPLIDAR C1, specifically designed for LGDXRobot2. This package is developed from scratch using C++20 and Boost. It supports composable nodes and is able to reconnect to the RPLIDAR if the connection is lost.

Limitations

While this package may work with other RPLIDAR models by changing the baud rate, there is no guarantee that it will be compatible with them. This package also does not support the following features:

Changing parameters on the fly: Parameters must be set before the node is started.
Reading from RPLIDAR over a network: This package is designed to work only with a serial connection.
DenseBoost scan mode: The RPLIDAR C1 does not support this mode out of the box. Although this package can read data from this mode, the results are not fully tested.

Installation

1.1. APT

Note: This package is only available on packages.lgdxrobot.uk

sudo apt install ros-lyrical-lgdx-rplidar-c1

To add the repository to your system, run the following commands. It supports both AMD64 and ARM64 architectures.

curl -L -s -o /tmp/lgdxrobot-apt-source.deb https://packages.lgdxrobot.uk/lgdxrobot-apt-source.deb
sudo dpkg -i /tmp/lgdxrobot-apt-source.deb
sudo apt update
rm -f /tmp/lgdxrobot-apt-source.deb

1.2. Build from source

This package has been tested on Ubuntu 26.04, but it should work on other operating systems, as no system-specific calls are used.

mkdir -p ~/lgdx_ws/src
cd ~/lgdx_ws/src
git clone https://gitlab.com/lgdxrobotics/lgdxrobot2-rplidar-c1.git
cd ..

# Install build dependencies
rosdep update
rosdep install --from-paths src --ignore-src -y

colcon build --symlink-install

2. Add UDEV rule

curl -L -o rplidar.rules https://gitlab.com/lgdxrobotics/lgdxrobot2-rplidar-c1/-/raw/main/udev/rplidar.rules
sudo cp rplidar.rules /etc/udev/rules.d
sudo service udev reload
sudo service udev restart

3. Launch

. install/setup.bash
ros2 launch lgdx_rplidar_c1 rplidar_c1_launch.py

Delete UDEV rule (Optional)

If you want to delete the UDEV rule, you can do so by running the following command:

sudo rm /etc/udev/rules.d/rplidar.rules
sudo service udev reload
sudo service udev restart

Parameters

Parameter	Type	Description
serial_port	string	RPLIDAR serial port name.
serial_baudrate	int	RPLIDAR serial port baud rate.
frame_id	string	Custom frame ID for the scan data.
inverted	bool	Whether to invert the scan data.
angle_compensate	bool	Publish scan data with a consistent number of points. Disable this option to publish the variable-sized data received directly from the RPLIDAR.
scan_mode	string	RPLIDAR scan mode.

Published Topics

Topic	Type	Description
scan	LaserScan	Scan data of the RPLIDAR.

File truncated at 100 lines see the full file

CONTRIBUTING

No version for distro kilted showing jazzy. Known supported distros are highlighted in the buttons above.

lgdxrobot2_rplidar_c1 repository

lgdx_rplidar_c1

ROS Distro
jazzy

Repository Summary

Checkout URI	https://gitlab.com/lgdxrobotics/lgdxrobot2-rplidar-c1.git
VCS Type	git
VCS Version	jazzy
Last Updated	2026-07-17
Dev Status	MAINTAINED
Released	UNRELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Packages

Name	Version
lgdx_rplidar_c1	1.0.0

README

lgdx_rplidar_c1

Overview

Screenshot

Release Strategy - Built to Stay Current.

A modern ROS 2 Lyrical (or later) wrapper for the RPLIDAR C1, specifically designed for LGDXRobot2. This package is developed from scratch using C++20 and Boost. It supports composable nodes and is able to reconnect to the RPLIDAR if the connection is lost.

Limitations

While this package may work with other RPLIDAR models by changing the baud rate, there is no guarantee that it will be compatible with them. This package also does not support the following features:

Changing parameters on the fly: Parameters must be set before the node is started.
Reading from RPLIDAR over a network: This package is designed to work only with a serial connection.
DenseBoost scan mode: The RPLIDAR C1 does not support this mode out of the box. Although this package can read data from this mode, the results are not fully tested.

Installation

1.1. APT

Note: This package is only available on packages.lgdxrobot.uk

sudo apt install ros-lyrical-lgdx-rplidar-c1

To add the repository to your system, run the following commands. It supports both AMD64 and ARM64 architectures.

curl -L -s -o /tmp/lgdxrobot-apt-source.deb https://packages.lgdxrobot.uk/lgdxrobot-apt-source.deb
sudo dpkg -i /tmp/lgdxrobot-apt-source.deb
sudo apt update
rm -f /tmp/lgdxrobot-apt-source.deb

1.2. Build from source

This package has been tested on Ubuntu 26.04, but it should work on other operating systems, as no system-specific calls are used.

mkdir -p ~/lgdx_ws/src
cd ~/lgdx_ws/src
git clone https://gitlab.com/lgdxrobotics/lgdxrobot2-rplidar-c1.git
cd ..

# Install build dependencies
rosdep update
rosdep install --from-paths src --ignore-src -y

colcon build --symlink-install

2. Add UDEV rule

curl -L -o rplidar.rules https://gitlab.com/lgdxrobotics/lgdxrobot2-rplidar-c1/-/raw/main/udev/rplidar.rules
sudo cp rplidar.rules /etc/udev/rules.d
sudo service udev reload
sudo service udev restart

3. Launch

. install/setup.bash
ros2 launch lgdx_rplidar_c1 rplidar_c1_launch.py

Delete UDEV rule (Optional)

If you want to delete the UDEV rule, you can do so by running the following command:

sudo rm /etc/udev/rules.d/rplidar.rules
sudo service udev reload
sudo service udev restart

Parameters

Parameter	Type	Description
serial_port	string	RPLIDAR serial port name.
serial_baudrate	int	RPLIDAR serial port baud rate.
frame_id	string	Custom frame ID for the scan data.
inverted	bool	Whether to invert the scan data.
angle_compensate	bool	Publish scan data with a consistent number of points. Disable this option to publish the variable-sized data received directly from the RPLIDAR.
scan_mode	string	RPLIDAR scan mode.

Published Topics

Topic	Type	Description
scan	LaserScan	Scan data of the RPLIDAR.

File truncated at 100 lines see the full file

CONTRIBUTING

lgdxrobot2_rplidar_c1 repository

lgdx_rplidar_c1

ROS Distro
lyrical

Repository Summary

Checkout URI	https://gitlab.com/lgdxrobotics/lgdxrobot2-rplidar-c1.git
VCS Type	git
VCS Version	lyrical
Last Updated	2026-07-17
Dev Status	MAINTAINED
Released	UNRELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Packages

Name	Version
lgdx_rplidar_c1	1.0.0

README

lgdx_rplidar_c1

Overview

Screenshot

Release Strategy - Built to Stay Current.

A modern ROS 2 Lyrical (or later) wrapper for the RPLIDAR C1, specifically designed for LGDXRobot2. This package is developed from scratch using C++20 and Boost. It supports composable nodes and is able to reconnect to the RPLIDAR if the connection is lost.

Limitations

While this package may work with other RPLIDAR models by changing the baud rate, there is no guarantee that it will be compatible with them. This package also does not support the following features:

Changing parameters on the fly: Parameters must be set before the node is started.
Reading from RPLIDAR over a network: This package is designed to work only with a serial connection.
DenseBoost scan mode: The RPLIDAR C1 does not support this mode out of the box. Although this package can read data from this mode, the results are not fully tested.

Installation

1.1. APT

Note: This package is only available on packages.lgdxrobot.uk

sudo apt install ros-lyrical-lgdx-rplidar-c1

To add the repository to your system, run the following commands. It supports both AMD64 and ARM64 architectures.

curl -L -s -o /tmp/lgdxrobot-apt-source.deb https://packages.lgdxrobot.uk/lgdxrobot-apt-source.deb
sudo dpkg -i /tmp/lgdxrobot-apt-source.deb
sudo apt update
rm -f /tmp/lgdxrobot-apt-source.deb

1.2. Build from source

This package has been tested on Ubuntu 26.04, but it should work on other operating systems, as no system-specific calls are used.

mkdir -p ~/lgdx_ws/src
cd ~/lgdx_ws/src
git clone https://gitlab.com/lgdxrobotics/lgdxrobot2-rplidar-c1.git
cd ..

# Install build dependencies
rosdep update
rosdep install --from-paths src --ignore-src -y

colcon build --symlink-install

2. Add UDEV rule

curl -L -o rplidar.rules https://gitlab.com/lgdxrobotics/lgdxrobot2-rplidar-c1/-/raw/main/udev/rplidar.rules
sudo cp rplidar.rules /etc/udev/rules.d
sudo service udev reload
sudo service udev restart

3. Launch

. install/setup.bash
ros2 launch lgdx_rplidar_c1 rplidar_c1_launch.py

Delete UDEV rule (Optional)

If you want to delete the UDEV rule, you can do so by running the following command:

sudo rm /etc/udev/rules.d/rplidar.rules
sudo service udev reload
sudo service udev restart

Parameters

Parameter	Type	Description
serial_port	string	RPLIDAR serial port name.
serial_baudrate	int	RPLIDAR serial port baud rate.
frame_id	string	Custom frame ID for the scan data.
inverted	bool	Whether to invert the scan data.
angle_compensate	bool	Publish scan data with a consistent number of points. Disable this option to publish the variable-sized data received directly from the RPLIDAR.
scan_mode	string	RPLIDAR scan mode.

Published Topics

Topic	Type	Description
scan	LaserScan	Scan data of the RPLIDAR.

File truncated at 100 lines see the full file

CONTRIBUTING

No version for distro rolling showing jazzy. Known supported distros are highlighted in the buttons above.

lgdxrobot2_rplidar_c1 repository

lgdx_rplidar_c1

ROS Distro
jazzy

Repository Summary

Checkout URI	https://gitlab.com/lgdxrobotics/lgdxrobot2-rplidar-c1.git
VCS Type	git
VCS Version	jazzy
Last Updated	2026-07-17
Dev Status	MAINTAINED
Released	UNRELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Packages

Name	Version
lgdx_rplidar_c1	1.0.0

README

lgdx_rplidar_c1

Overview

Screenshot

Release Strategy - Built to Stay Current.

A modern ROS 2 Lyrical (or later) wrapper for the RPLIDAR C1, specifically designed for LGDXRobot2. This package is developed from scratch using C++20 and Boost. It supports composable nodes and is able to reconnect to the RPLIDAR if the connection is lost.

Limitations

While this package may work with other RPLIDAR models by changing the baud rate, there is no guarantee that it will be compatible with them. This package also does not support the following features:

Changing parameters on the fly: Parameters must be set before the node is started.
Reading from RPLIDAR over a network: This package is designed to work only with a serial connection.
DenseBoost scan mode: The RPLIDAR C1 does not support this mode out of the box. Although this package can read data from this mode, the results are not fully tested.

Installation

1.1. APT

Note: This package is only available on packages.lgdxrobot.uk

sudo apt install ros-lyrical-lgdx-rplidar-c1

To add the repository to your system, run the following commands. It supports both AMD64 and ARM64 architectures.

curl -L -s -o /tmp/lgdxrobot-apt-source.deb https://packages.lgdxrobot.uk/lgdxrobot-apt-source.deb
sudo dpkg -i /tmp/lgdxrobot-apt-source.deb
sudo apt update
rm -f /tmp/lgdxrobot-apt-source.deb

1.2. Build from source

This package has been tested on Ubuntu 26.04, but it should work on other operating systems, as no system-specific calls are used.

mkdir -p ~/lgdx_ws/src
cd ~/lgdx_ws/src
git clone https://gitlab.com/lgdxrobotics/lgdxrobot2-rplidar-c1.git
cd ..

# Install build dependencies
rosdep update
rosdep install --from-paths src --ignore-src -y

colcon build --symlink-install

2. Add UDEV rule

curl -L -o rplidar.rules https://gitlab.com/lgdxrobotics/lgdxrobot2-rplidar-c1/-/raw/main/udev/rplidar.rules
sudo cp rplidar.rules /etc/udev/rules.d
sudo service udev reload
sudo service udev restart

3. Launch

. install/setup.bash
ros2 launch lgdx_rplidar_c1 rplidar_c1_launch.py

Delete UDEV rule (Optional)

If you want to delete the UDEV rule, you can do so by running the following command:

sudo rm /etc/udev/rules.d/rplidar.rules
sudo service udev reload
sudo service udev restart

Parameters

Parameter	Type	Description
serial_port	string	RPLIDAR serial port name.
serial_baudrate	int	RPLIDAR serial port baud rate.
frame_id	string	Custom frame ID for the scan data.
inverted	bool	Whether to invert the scan data.
angle_compensate	bool	Publish scan data with a consistent number of points. Disable this option to publish the variable-sized data received directly from the RPLIDAR.
scan_mode	string	RPLIDAR scan mode.

Published Topics

Topic	Type	Description
scan	LaserScan	Scan data of the RPLIDAR.

File truncated at 100 lines see the full file

CONTRIBUTING

No version for distro ardent showing jazzy. Known supported distros are highlighted in the buttons above.

lgdxrobot2_rplidar_c1 repository

lgdx_rplidar_c1

ROS Distro
jazzy

Repository Summary

Checkout URI	https://gitlab.com/lgdxrobotics/lgdxrobot2-rplidar-c1.git
VCS Type	git
VCS Version	jazzy
Last Updated	2026-07-17
Dev Status	MAINTAINED
Released	UNRELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Packages

Name	Version
lgdx_rplidar_c1	1.0.0

README

lgdx_rplidar_c1

Overview

Screenshot

Release Strategy - Built to Stay Current.

A modern ROS 2 Lyrical (or later) wrapper for the RPLIDAR C1, specifically designed for LGDXRobot2. This package is developed from scratch using C++20 and Boost. It supports composable nodes and is able to reconnect to the RPLIDAR if the connection is lost.

Limitations

While this package may work with other RPLIDAR models by changing the baud rate, there is no guarantee that it will be compatible with them. This package also does not support the following features:

Changing parameters on the fly: Parameters must be set before the node is started.
Reading from RPLIDAR over a network: This package is designed to work only with a serial connection.
DenseBoost scan mode: The RPLIDAR C1 does not support this mode out of the box. Although this package can read data from this mode, the results are not fully tested.

Installation

1.1. APT

Note: This package is only available on packages.lgdxrobot.uk

sudo apt install ros-lyrical-lgdx-rplidar-c1

To add the repository to your system, run the following commands. It supports both AMD64 and ARM64 architectures.

curl -L -s -o /tmp/lgdxrobot-apt-source.deb https://packages.lgdxrobot.uk/lgdxrobot-apt-source.deb
sudo dpkg -i /tmp/lgdxrobot-apt-source.deb
sudo apt update
rm -f /tmp/lgdxrobot-apt-source.deb

1.2. Build from source

This package has been tested on Ubuntu 26.04, but it should work on other operating systems, as no system-specific calls are used.

mkdir -p ~/lgdx_ws/src
cd ~/lgdx_ws/src
git clone https://gitlab.com/lgdxrobotics/lgdxrobot2-rplidar-c1.git
cd ..

# Install build dependencies
rosdep update
rosdep install --from-paths src --ignore-src -y

colcon build --symlink-install

2. Add UDEV rule

curl -L -o rplidar.rules https://gitlab.com/lgdxrobotics/lgdxrobot2-rplidar-c1/-/raw/main/udev/rplidar.rules
sudo cp rplidar.rules /etc/udev/rules.d
sudo service udev reload
sudo service udev restart

3. Launch

. install/setup.bash
ros2 launch lgdx_rplidar_c1 rplidar_c1_launch.py

Delete UDEV rule (Optional)

If you want to delete the UDEV rule, you can do so by running the following command:

sudo rm /etc/udev/rules.d/rplidar.rules
sudo service udev reload
sudo service udev restart

Parameters

Parameter	Type	Description
serial_port	string	RPLIDAR serial port name.
serial_baudrate	int	RPLIDAR serial port baud rate.
frame_id	string	Custom frame ID for the scan data.
inverted	bool	Whether to invert the scan data.
angle_compensate	bool	Publish scan data with a consistent number of points. Disable this option to publish the variable-sized data received directly from the RPLIDAR.
scan_mode	string	RPLIDAR scan mode.

Published Topics

Topic	Type	Description
scan	LaserScan	Scan data of the RPLIDAR.

File truncated at 100 lines see the full file

CONTRIBUTING

No version for distro bouncy showing jazzy. Known supported distros are highlighted in the buttons above.

lgdxrobot2_rplidar_c1 repository

lgdx_rplidar_c1

ROS Distro
jazzy

Repository Summary

Checkout URI	https://gitlab.com/lgdxrobotics/lgdxrobot2-rplidar-c1.git
VCS Type	git
VCS Version	jazzy
Last Updated	2026-07-17
Dev Status	MAINTAINED
Released	UNRELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Packages

Name	Version
lgdx_rplidar_c1	1.0.0

README

lgdx_rplidar_c1

Overview

Screenshot

Release Strategy - Built to Stay Current.

A modern ROS 2 Lyrical (or later) wrapper for the RPLIDAR C1, specifically designed for LGDXRobot2. This package is developed from scratch using C++20 and Boost. It supports composable nodes and is able to reconnect to the RPLIDAR if the connection is lost.

Limitations

While this package may work with other RPLIDAR models by changing the baud rate, there is no guarantee that it will be compatible with them. This package also does not support the following features:

Changing parameters on the fly: Parameters must be set before the node is started.
Reading from RPLIDAR over a network: This package is designed to work only with a serial connection.
DenseBoost scan mode: The RPLIDAR C1 does not support this mode out of the box. Although this package can read data from this mode, the results are not fully tested.

Installation

1.1. APT

Note: This package is only available on packages.lgdxrobot.uk

sudo apt install ros-lyrical-lgdx-rplidar-c1

To add the repository to your system, run the following commands. It supports both AMD64 and ARM64 architectures.

curl -L -s -o /tmp/lgdxrobot-apt-source.deb https://packages.lgdxrobot.uk/lgdxrobot-apt-source.deb
sudo dpkg -i /tmp/lgdxrobot-apt-source.deb
sudo apt update
rm -f /tmp/lgdxrobot-apt-source.deb

1.2. Build from source

This package has been tested on Ubuntu 26.04, but it should work on other operating systems, as no system-specific calls are used.

mkdir -p ~/lgdx_ws/src
cd ~/lgdx_ws/src
git clone https://gitlab.com/lgdxrobotics/lgdxrobot2-rplidar-c1.git
cd ..

# Install build dependencies
rosdep update
rosdep install --from-paths src --ignore-src -y

colcon build --symlink-install

2. Add UDEV rule

curl -L -o rplidar.rules https://gitlab.com/lgdxrobotics/lgdxrobot2-rplidar-c1/-/raw/main/udev/rplidar.rules
sudo cp rplidar.rules /etc/udev/rules.d
sudo service udev reload
sudo service udev restart

3. Launch

. install/setup.bash
ros2 launch lgdx_rplidar_c1 rplidar_c1_launch.py

Delete UDEV rule (Optional)

If you want to delete the UDEV rule, you can do so by running the following command:

sudo rm /etc/udev/rules.d/rplidar.rules
sudo service udev reload
sudo service udev restart

Parameters

Parameter	Type	Description
serial_port	string	RPLIDAR serial port name.
serial_baudrate	int	RPLIDAR serial port baud rate.
frame_id	string	Custom frame ID for the scan data.
inverted	bool	Whether to invert the scan data.
angle_compensate	bool	Publish scan data with a consistent number of points. Disable this option to publish the variable-sized data received directly from the RPLIDAR.
scan_mode	string	RPLIDAR scan mode.

Published Topics

Topic	Type	Description
scan	LaserScan	Scan data of the RPLIDAR.

File truncated at 100 lines see the full file

CONTRIBUTING

No version for distro crystal showing jazzy. Known supported distros are highlighted in the buttons above.

lgdxrobot2_rplidar_c1 repository

lgdx_rplidar_c1

ROS Distro
jazzy

Repository Summary

Checkout URI	https://gitlab.com/lgdxrobotics/lgdxrobot2-rplidar-c1.git
VCS Type	git
VCS Version	jazzy
Last Updated	2026-07-17
Dev Status	MAINTAINED
Released	UNRELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Packages

Name	Version
lgdx_rplidar_c1	1.0.0

README

lgdx_rplidar_c1

Overview

Screenshot

Release Strategy - Built to Stay Current.

A modern ROS 2 Lyrical (or later) wrapper for the RPLIDAR C1, specifically designed for LGDXRobot2. This package is developed from scratch using C++20 and Boost. It supports composable nodes and is able to reconnect to the RPLIDAR if the connection is lost.

Limitations

While this package may work with other RPLIDAR models by changing the baud rate, there is no guarantee that it will be compatible with them. This package also does not support the following features:

Changing parameters on the fly: Parameters must be set before the node is started.
Reading from RPLIDAR over a network: This package is designed to work only with a serial connection.
DenseBoost scan mode: The RPLIDAR C1 does not support this mode out of the box. Although this package can read data from this mode, the results are not fully tested.

Installation

1.1. APT

Note: This package is only available on packages.lgdxrobot.uk

sudo apt install ros-lyrical-lgdx-rplidar-c1

To add the repository to your system, run the following commands. It supports both AMD64 and ARM64 architectures.

curl -L -s -o /tmp/lgdxrobot-apt-source.deb https://packages.lgdxrobot.uk/lgdxrobot-apt-source.deb
sudo dpkg -i /tmp/lgdxrobot-apt-source.deb
sudo apt update
rm -f /tmp/lgdxrobot-apt-source.deb

1.2. Build from source

This package has been tested on Ubuntu 26.04, but it should work on other operating systems, as no system-specific calls are used.

mkdir -p ~/lgdx_ws/src
cd ~/lgdx_ws/src
git clone https://gitlab.com/lgdxrobotics/lgdxrobot2-rplidar-c1.git
cd ..

# Install build dependencies
rosdep update
rosdep install --from-paths src --ignore-src -y

colcon build --symlink-install

2. Add UDEV rule

curl -L -o rplidar.rules https://gitlab.com/lgdxrobotics/lgdxrobot2-rplidar-c1/-/raw/main/udev/rplidar.rules
sudo cp rplidar.rules /etc/udev/rules.d
sudo service udev reload
sudo service udev restart

3. Launch

. install/setup.bash
ros2 launch lgdx_rplidar_c1 rplidar_c1_launch.py

Delete UDEV rule (Optional)

If you want to delete the UDEV rule, you can do so by running the following command:

sudo rm /etc/udev/rules.d/rplidar.rules
sudo service udev reload
sudo service udev restart

Parameters

Parameter	Type	Description
serial_port	string	RPLIDAR serial port name.
serial_baudrate	int	RPLIDAR serial port baud rate.
frame_id	string	Custom frame ID for the scan data.
inverted	bool	Whether to invert the scan data.
angle_compensate	bool	Publish scan data with a consistent number of points. Disable this option to publish the variable-sized data received directly from the RPLIDAR.
scan_mode	string	RPLIDAR scan mode.

Published Topics

Topic	Type	Description
scan	LaserScan	Scan data of the RPLIDAR.

File truncated at 100 lines see the full file

CONTRIBUTING

No version for distro eloquent showing jazzy. Known supported distros are highlighted in the buttons above.

lgdxrobot2_rplidar_c1 repository

lgdx_rplidar_c1

ROS Distro
jazzy

Repository Summary

Checkout URI	https://gitlab.com/lgdxrobotics/lgdxrobot2-rplidar-c1.git
VCS Type	git
VCS Version	jazzy
Last Updated	2026-07-17
Dev Status	MAINTAINED
Released	UNRELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Packages

Name	Version
lgdx_rplidar_c1	1.0.0

README

lgdx_rplidar_c1

Overview

Screenshot

Release Strategy - Built to Stay Current.

A modern ROS 2 Lyrical (or later) wrapper for the RPLIDAR C1, specifically designed for LGDXRobot2. This package is developed from scratch using C++20 and Boost. It supports composable nodes and is able to reconnect to the RPLIDAR if the connection is lost.

Limitations

While this package may work with other RPLIDAR models by changing the baud rate, there is no guarantee that it will be compatible with them. This package also does not support the following features:

Changing parameters on the fly: Parameters must be set before the node is started.
Reading from RPLIDAR over a network: This package is designed to work only with a serial connection.
DenseBoost scan mode: The RPLIDAR C1 does not support this mode out of the box. Although this package can read data from this mode, the results are not fully tested.

Installation

1.1. APT

Note: This package is only available on packages.lgdxrobot.uk

sudo apt install ros-lyrical-lgdx-rplidar-c1

To add the repository to your system, run the following commands. It supports both AMD64 and ARM64 architectures.

curl -L -s -o /tmp/lgdxrobot-apt-source.deb https://packages.lgdxrobot.uk/lgdxrobot-apt-source.deb
sudo dpkg -i /tmp/lgdxrobot-apt-source.deb
sudo apt update
rm -f /tmp/lgdxrobot-apt-source.deb

1.2. Build from source

This package has been tested on Ubuntu 26.04, but it should work on other operating systems, as no system-specific calls are used.

mkdir -p ~/lgdx_ws/src
cd ~/lgdx_ws/src
git clone https://gitlab.com/lgdxrobotics/lgdxrobot2-rplidar-c1.git
cd ..

# Install build dependencies
rosdep update
rosdep install --from-paths src --ignore-src -y

colcon build --symlink-install

2. Add UDEV rule

curl -L -o rplidar.rules https://gitlab.com/lgdxrobotics/lgdxrobot2-rplidar-c1/-/raw/main/udev/rplidar.rules
sudo cp rplidar.rules /etc/udev/rules.d
sudo service udev reload
sudo service udev restart

3. Launch

. install/setup.bash
ros2 launch lgdx_rplidar_c1 rplidar_c1_launch.py

Delete UDEV rule (Optional)

If you want to delete the UDEV rule, you can do so by running the following command:

sudo rm /etc/udev/rules.d/rplidar.rules
sudo service udev reload
sudo service udev restart

Parameters

Parameter	Type	Description
serial_port	string	RPLIDAR serial port name.
serial_baudrate	int	RPLIDAR serial port baud rate.
frame_id	string	Custom frame ID for the scan data.
inverted	bool	Whether to invert the scan data.
angle_compensate	bool	Publish scan data with a consistent number of points. Disable this option to publish the variable-sized data received directly from the RPLIDAR.
scan_mode	string	RPLIDAR scan mode.

Published Topics

Topic	Type	Description
scan	LaserScan	Scan data of the RPLIDAR.

File truncated at 100 lines see the full file

CONTRIBUTING

No version for distro dashing showing jazzy. Known supported distros are highlighted in the buttons above.

lgdxrobot2_rplidar_c1 repository

lgdx_rplidar_c1

ROS Distro
jazzy

Repository Summary

Checkout URI	https://gitlab.com/lgdxrobotics/lgdxrobot2-rplidar-c1.git
VCS Type	git
VCS Version	jazzy
Last Updated	2026-07-17
Dev Status	MAINTAINED
Released	UNRELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Packages

Name	Version
lgdx_rplidar_c1	1.0.0

README

lgdx_rplidar_c1

Overview

Screenshot

Release Strategy - Built to Stay Current.

A modern ROS 2 Lyrical (or later) wrapper for the RPLIDAR C1, specifically designed for LGDXRobot2. This package is developed from scratch using C++20 and Boost. It supports composable nodes and is able to reconnect to the RPLIDAR if the connection is lost.

Limitations

While this package may work with other RPLIDAR models by changing the baud rate, there is no guarantee that it will be compatible with them. This package also does not support the following features:

Changing parameters on the fly: Parameters must be set before the node is started.
Reading from RPLIDAR over a network: This package is designed to work only with a serial connection.
DenseBoost scan mode: The RPLIDAR C1 does not support this mode out of the box. Although this package can read data from this mode, the results are not fully tested.

Installation

1.1. APT

Note: This package is only available on packages.lgdxrobot.uk

sudo apt install ros-lyrical-lgdx-rplidar-c1

To add the repository to your system, run the following commands. It supports both AMD64 and ARM64 architectures.

curl -L -s -o /tmp/lgdxrobot-apt-source.deb https://packages.lgdxrobot.uk/lgdxrobot-apt-source.deb
sudo dpkg -i /tmp/lgdxrobot-apt-source.deb
sudo apt update
rm -f /tmp/lgdxrobot-apt-source.deb

1.2. Build from source

This package has been tested on Ubuntu 26.04, but it should work on other operating systems, as no system-specific calls are used.

mkdir -p ~/lgdx_ws/src
cd ~/lgdx_ws/src
git clone https://gitlab.com/lgdxrobotics/lgdxrobot2-rplidar-c1.git
cd ..

# Install build dependencies
rosdep update
rosdep install --from-paths src --ignore-src -y

colcon build --symlink-install

2. Add UDEV rule

curl -L -o rplidar.rules https://gitlab.com/lgdxrobotics/lgdxrobot2-rplidar-c1/-/raw/main/udev/rplidar.rules
sudo cp rplidar.rules /etc/udev/rules.d
sudo service udev reload
sudo service udev restart

3. Launch

. install/setup.bash
ros2 launch lgdx_rplidar_c1 rplidar_c1_launch.py

Delete UDEV rule (Optional)

If you want to delete the UDEV rule, you can do so by running the following command:

sudo rm /etc/udev/rules.d/rplidar.rules
sudo service udev reload
sudo service udev restart

Parameters

Parameter	Type	Description
serial_port	string	RPLIDAR serial port name.
serial_baudrate	int	RPLIDAR serial port baud rate.
frame_id	string	Custom frame ID for the scan data.
inverted	bool	Whether to invert the scan data.
angle_compensate	bool	Publish scan data with a consistent number of points. Disable this option to publish the variable-sized data received directly from the RPLIDAR.
scan_mode	string	RPLIDAR scan mode.

Published Topics

Topic	Type	Description
scan	LaserScan	Scan data of the RPLIDAR.

File truncated at 100 lines see the full file

CONTRIBUTING

No version for distro galactic showing jazzy. Known supported distros are highlighted in the buttons above.

lgdxrobot2_rplidar_c1 repository

lgdx_rplidar_c1

ROS Distro
jazzy

Repository Summary

Checkout URI	https://gitlab.com/lgdxrobotics/lgdxrobot2-rplidar-c1.git
VCS Type	git
VCS Version	jazzy
Last Updated	2026-07-17
Dev Status	MAINTAINED
Released	UNRELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Packages

Name	Version
lgdx_rplidar_c1	1.0.0

README

lgdx_rplidar_c1

Overview

Screenshot

Release Strategy - Built to Stay Current.

A modern ROS 2 Lyrical (or later) wrapper for the RPLIDAR C1, specifically designed for LGDXRobot2. This package is developed from scratch using C++20 and Boost. It supports composable nodes and is able to reconnect to the RPLIDAR if the connection is lost.

Limitations

While this package may work with other RPLIDAR models by changing the baud rate, there is no guarantee that it will be compatible with them. This package also does not support the following features:

Changing parameters on the fly: Parameters must be set before the node is started.
Reading from RPLIDAR over a network: This package is designed to work only with a serial connection.
DenseBoost scan mode: The RPLIDAR C1 does not support this mode out of the box. Although this package can read data from this mode, the results are not fully tested.

Installation

1.1. APT

Note: This package is only available on packages.lgdxrobot.uk

sudo apt install ros-lyrical-lgdx-rplidar-c1

To add the repository to your system, run the following commands. It supports both AMD64 and ARM64 architectures.

curl -L -s -o /tmp/lgdxrobot-apt-source.deb https://packages.lgdxrobot.uk/lgdxrobot-apt-source.deb
sudo dpkg -i /tmp/lgdxrobot-apt-source.deb
sudo apt update
rm -f /tmp/lgdxrobot-apt-source.deb

1.2. Build from source

This package has been tested on Ubuntu 26.04, but it should work on other operating systems, as no system-specific calls are used.

mkdir -p ~/lgdx_ws/src
cd ~/lgdx_ws/src
git clone https://gitlab.com/lgdxrobotics/lgdxrobot2-rplidar-c1.git
cd ..

# Install build dependencies
rosdep update
rosdep install --from-paths src --ignore-src -y

colcon build --symlink-install

2. Add UDEV rule

curl -L -o rplidar.rules https://gitlab.com/lgdxrobotics/lgdxrobot2-rplidar-c1/-/raw/main/udev/rplidar.rules
sudo cp rplidar.rules /etc/udev/rules.d
sudo service udev reload
sudo service udev restart

3. Launch

. install/setup.bash
ros2 launch lgdx_rplidar_c1 rplidar_c1_launch.py

Delete UDEV rule (Optional)

If you want to delete the UDEV rule, you can do so by running the following command:

sudo rm /etc/udev/rules.d/rplidar.rules
sudo service udev reload
sudo service udev restart

Parameters

Parameter	Type	Description
serial_port	string	RPLIDAR serial port name.
serial_baudrate	int	RPLIDAR serial port baud rate.
frame_id	string	Custom frame ID for the scan data.
inverted	bool	Whether to invert the scan data.
angle_compensate	bool	Publish scan data with a consistent number of points. Disable this option to publish the variable-sized data received directly from the RPLIDAR.
scan_mode	string	RPLIDAR scan mode.

Published Topics

Topic	Type	Description
scan	LaserScan	Scan data of the RPLIDAR.

File truncated at 100 lines see the full file

CONTRIBUTING

No version for distro foxy showing jazzy. Known supported distros are highlighted in the buttons above.

lgdxrobot2_rplidar_c1 repository

lgdx_rplidar_c1

ROS Distro
jazzy

Repository Summary

Checkout URI	https://gitlab.com/lgdxrobotics/lgdxrobot2-rplidar-c1.git
VCS Type	git
VCS Version	jazzy
Last Updated	2026-07-17
Dev Status	MAINTAINED
Released	UNRELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Packages

Name	Version
lgdx_rplidar_c1	1.0.0

README

lgdx_rplidar_c1

Overview

Screenshot

Release Strategy - Built to Stay Current.

A modern ROS 2 Lyrical (or later) wrapper for the RPLIDAR C1, specifically designed for LGDXRobot2. This package is developed from scratch using C++20 and Boost. It supports composable nodes and is able to reconnect to the RPLIDAR if the connection is lost.

Limitations

While this package may work with other RPLIDAR models by changing the baud rate, there is no guarantee that it will be compatible with them. This package also does not support the following features:

Changing parameters on the fly: Parameters must be set before the node is started.
Reading from RPLIDAR over a network: This package is designed to work only with a serial connection.
DenseBoost scan mode: The RPLIDAR C1 does not support this mode out of the box. Although this package can read data from this mode, the results are not fully tested.

Installation

1.1. APT

Note: This package is only available on packages.lgdxrobot.uk

sudo apt install ros-lyrical-lgdx-rplidar-c1

To add the repository to your system, run the following commands. It supports both AMD64 and ARM64 architectures.

curl -L -s -o /tmp/lgdxrobot-apt-source.deb https://packages.lgdxrobot.uk/lgdxrobot-apt-source.deb
sudo dpkg -i /tmp/lgdxrobot-apt-source.deb
sudo apt update
rm -f /tmp/lgdxrobot-apt-source.deb

1.2. Build from source

This package has been tested on Ubuntu 26.04, but it should work on other operating systems, as no system-specific calls are used.

mkdir -p ~/lgdx_ws/src
cd ~/lgdx_ws/src
git clone https://gitlab.com/lgdxrobotics/lgdxrobot2-rplidar-c1.git
cd ..

# Install build dependencies
rosdep update
rosdep install --from-paths src --ignore-src -y

colcon build --symlink-install

2. Add UDEV rule

curl -L -o rplidar.rules https://gitlab.com/lgdxrobotics/lgdxrobot2-rplidar-c1/-/raw/main/udev/rplidar.rules
sudo cp rplidar.rules /etc/udev/rules.d
sudo service udev reload
sudo service udev restart

3. Launch

. install/setup.bash
ros2 launch lgdx_rplidar_c1 rplidar_c1_launch.py

Delete UDEV rule (Optional)

If you want to delete the UDEV rule, you can do so by running the following command:

sudo rm /etc/udev/rules.d/rplidar.rules
sudo service udev reload
sudo service udev restart

Parameters

Parameter	Type	Description
serial_port	string	RPLIDAR serial port name.
serial_baudrate	int	RPLIDAR serial port baud rate.
frame_id	string	Custom frame ID for the scan data.
inverted	bool	Whether to invert the scan data.
angle_compensate	bool	Publish scan data with a consistent number of points. Disable this option to publish the variable-sized data received directly from the RPLIDAR.
scan_mode	string	RPLIDAR scan mode.

Published Topics

Topic	Type	Description
scan	LaserScan	Scan data of the RPLIDAR.

File truncated at 100 lines see the full file

CONTRIBUTING

No version for distro iron showing jazzy. Known supported distros are highlighted in the buttons above.

lgdxrobot2_rplidar_c1 repository

lgdx_rplidar_c1

ROS Distro
jazzy

Repository Summary

Checkout URI	https://gitlab.com/lgdxrobotics/lgdxrobot2-rplidar-c1.git
VCS Type	git
VCS Version	jazzy
Last Updated	2026-07-17
Dev Status	MAINTAINED
Released	UNRELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Packages

Name	Version
lgdx_rplidar_c1	1.0.0

README

lgdx_rplidar_c1

Overview

Screenshot

Release Strategy - Built to Stay Current.

A modern ROS 2 Lyrical (or later) wrapper for the RPLIDAR C1, specifically designed for LGDXRobot2. This package is developed from scratch using C++20 and Boost. It supports composable nodes and is able to reconnect to the RPLIDAR if the connection is lost.

Limitations

While this package may work with other RPLIDAR models by changing the baud rate, there is no guarantee that it will be compatible with them. This package also does not support the following features:

Changing parameters on the fly: Parameters must be set before the node is started.
Reading from RPLIDAR over a network: This package is designed to work only with a serial connection.
DenseBoost scan mode: The RPLIDAR C1 does not support this mode out of the box. Although this package can read data from this mode, the results are not fully tested.

Installation

1.1. APT

Note: This package is only available on packages.lgdxrobot.uk

sudo apt install ros-lyrical-lgdx-rplidar-c1

To add the repository to your system, run the following commands. It supports both AMD64 and ARM64 architectures.

curl -L -s -o /tmp/lgdxrobot-apt-source.deb https://packages.lgdxrobot.uk/lgdxrobot-apt-source.deb
sudo dpkg -i /tmp/lgdxrobot-apt-source.deb
sudo apt update
rm -f /tmp/lgdxrobot-apt-source.deb

1.2. Build from source

This package has been tested on Ubuntu 26.04, but it should work on other operating systems, as no system-specific calls are used.

mkdir -p ~/lgdx_ws/src
cd ~/lgdx_ws/src
git clone https://gitlab.com/lgdxrobotics/lgdxrobot2-rplidar-c1.git
cd ..

# Install build dependencies
rosdep update
rosdep install --from-paths src --ignore-src -y

colcon build --symlink-install

2. Add UDEV rule

curl -L -o rplidar.rules https://gitlab.com/lgdxrobotics/lgdxrobot2-rplidar-c1/-/raw/main/udev/rplidar.rules
sudo cp rplidar.rules /etc/udev/rules.d
sudo service udev reload
sudo service udev restart

3. Launch

. install/setup.bash
ros2 launch lgdx_rplidar_c1 rplidar_c1_launch.py

Delete UDEV rule (Optional)

If you want to delete the UDEV rule, you can do so by running the following command:

sudo rm /etc/udev/rules.d/rplidar.rules
sudo service udev reload
sudo service udev restart

Parameters

Parameter	Type	Description
serial_port	string	RPLIDAR serial port name.
serial_baudrate	int	RPLIDAR serial port baud rate.
frame_id	string	Custom frame ID for the scan data.
inverted	bool	Whether to invert the scan data.
angle_compensate	bool	Publish scan data with a consistent number of points. Disable this option to publish the variable-sized data received directly from the RPLIDAR.
scan_mode	string	RPLIDAR scan mode.

Published Topics

Topic	Type	Description
scan	LaserScan	Scan data of the RPLIDAR.

File truncated at 100 lines see the full file

CONTRIBUTING

No version for distro lunar showing jazzy. Known supported distros are highlighted in the buttons above.

lgdxrobot2_rplidar_c1 repository

lgdx_rplidar_c1

ROS Distro
jazzy

Repository Summary

Checkout URI	https://gitlab.com/lgdxrobotics/lgdxrobot2-rplidar-c1.git
VCS Type	git
VCS Version	jazzy
Last Updated	2026-07-17
Dev Status	MAINTAINED
Released	UNRELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Packages

Name	Version
lgdx_rplidar_c1	1.0.0

README

lgdx_rplidar_c1

Overview

Screenshot

Release Strategy - Built to Stay Current.

A modern ROS 2 Lyrical (or later) wrapper for the RPLIDAR C1, specifically designed for LGDXRobot2. This package is developed from scratch using C++20 and Boost. It supports composable nodes and is able to reconnect to the RPLIDAR if the connection is lost.

Limitations

While this package may work with other RPLIDAR models by changing the baud rate, there is no guarantee that it will be compatible with them. This package also does not support the following features:

Changing parameters on the fly: Parameters must be set before the node is started.
Reading from RPLIDAR over a network: This package is designed to work only with a serial connection.
DenseBoost scan mode: The RPLIDAR C1 does not support this mode out of the box. Although this package can read data from this mode, the results are not fully tested.

Installation

1.1. APT

Note: This package is only available on packages.lgdxrobot.uk

sudo apt install ros-lyrical-lgdx-rplidar-c1

To add the repository to your system, run the following commands. It supports both AMD64 and ARM64 architectures.

curl -L -s -o /tmp/lgdxrobot-apt-source.deb https://packages.lgdxrobot.uk/lgdxrobot-apt-source.deb
sudo dpkg -i /tmp/lgdxrobot-apt-source.deb
sudo apt update
rm -f /tmp/lgdxrobot-apt-source.deb

1.2. Build from source

This package has been tested on Ubuntu 26.04, but it should work on other operating systems, as no system-specific calls are used.

mkdir -p ~/lgdx_ws/src
cd ~/lgdx_ws/src
git clone https://gitlab.com/lgdxrobotics/lgdxrobot2-rplidar-c1.git
cd ..

# Install build dependencies
rosdep update
rosdep install --from-paths src --ignore-src -y

colcon build --symlink-install

2. Add UDEV rule

curl -L -o rplidar.rules https://gitlab.com/lgdxrobotics/lgdxrobot2-rplidar-c1/-/raw/main/udev/rplidar.rules
sudo cp rplidar.rules /etc/udev/rules.d
sudo service udev reload
sudo service udev restart

3. Launch

. install/setup.bash
ros2 launch lgdx_rplidar_c1 rplidar_c1_launch.py

Delete UDEV rule (Optional)

If you want to delete the UDEV rule, you can do so by running the following command:

sudo rm /etc/udev/rules.d/rplidar.rules
sudo service udev reload
sudo service udev restart

Parameters

Parameter	Type	Description
serial_port	string	RPLIDAR serial port name.
serial_baudrate	int	RPLIDAR serial port baud rate.
frame_id	string	Custom frame ID for the scan data.
inverted	bool	Whether to invert the scan data.
angle_compensate	bool	Publish scan data with a consistent number of points. Disable this option to publish the variable-sized data received directly from the RPLIDAR.
scan_mode	string	RPLIDAR scan mode.

Published Topics

Topic	Type	Description
scan	LaserScan	Scan data of the RPLIDAR.

File truncated at 100 lines see the full file

CONTRIBUTING

No version for distro jade showing jazzy. Known supported distros are highlighted in the buttons above.

lgdxrobot2_rplidar_c1 repository

lgdx_rplidar_c1

ROS Distro
jazzy

Repository Summary

Checkout URI	https://gitlab.com/lgdxrobotics/lgdxrobot2-rplidar-c1.git
VCS Type	git
VCS Version	jazzy
Last Updated	2026-07-17
Dev Status	MAINTAINED
Released	UNRELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Packages

Name	Version
lgdx_rplidar_c1	1.0.0

README

lgdx_rplidar_c1

Overview

Screenshot

Release Strategy - Built to Stay Current.

A modern ROS 2 Lyrical (or later) wrapper for the RPLIDAR C1, specifically designed for LGDXRobot2. This package is developed from scratch using C++20 and Boost. It supports composable nodes and is able to reconnect to the RPLIDAR if the connection is lost.

Limitations

While this package may work with other RPLIDAR models by changing the baud rate, there is no guarantee that it will be compatible with them. This package also does not support the following features:

Changing parameters on the fly: Parameters must be set before the node is started.
Reading from RPLIDAR over a network: This package is designed to work only with a serial connection.
DenseBoost scan mode: The RPLIDAR C1 does not support this mode out of the box. Although this package can read data from this mode, the results are not fully tested.

Installation

1.1. APT

Note: This package is only available on packages.lgdxrobot.uk

sudo apt install ros-lyrical-lgdx-rplidar-c1

To add the repository to your system, run the following commands. It supports both AMD64 and ARM64 architectures.

curl -L -s -o /tmp/lgdxrobot-apt-source.deb https://packages.lgdxrobot.uk/lgdxrobot-apt-source.deb
sudo dpkg -i /tmp/lgdxrobot-apt-source.deb
sudo apt update
rm -f /tmp/lgdxrobot-apt-source.deb

1.2. Build from source

This package has been tested on Ubuntu 26.04, but it should work on other operating systems, as no system-specific calls are used.

mkdir -p ~/lgdx_ws/src
cd ~/lgdx_ws/src
git clone https://gitlab.com/lgdxrobotics/lgdxrobot2-rplidar-c1.git
cd ..

# Install build dependencies
rosdep update
rosdep install --from-paths src --ignore-src -y

colcon build --symlink-install

2. Add UDEV rule

curl -L -o rplidar.rules https://gitlab.com/lgdxrobotics/lgdxrobot2-rplidar-c1/-/raw/main/udev/rplidar.rules
sudo cp rplidar.rules /etc/udev/rules.d
sudo service udev reload
sudo service udev restart

3. Launch

. install/setup.bash
ros2 launch lgdx_rplidar_c1 rplidar_c1_launch.py

Delete UDEV rule (Optional)

If you want to delete the UDEV rule, you can do so by running the following command:

sudo rm /etc/udev/rules.d/rplidar.rules
sudo service udev reload
sudo service udev restart

Parameters

Parameter	Type	Description
serial_port	string	RPLIDAR serial port name.
serial_baudrate	int	RPLIDAR serial port baud rate.
frame_id	string	Custom frame ID for the scan data.
inverted	bool	Whether to invert the scan data.
angle_compensate	bool	Publish scan data with a consistent number of points. Disable this option to publish the variable-sized data received directly from the RPLIDAR.
scan_mode	string	RPLIDAR scan mode.

Published Topics

Topic	Type	Description
scan	LaserScan	Scan data of the RPLIDAR.

File truncated at 100 lines see the full file

CONTRIBUTING

No version for distro indigo showing jazzy. Known supported distros are highlighted in the buttons above.

lgdxrobot2_rplidar_c1 repository

lgdx_rplidar_c1

ROS Distro
jazzy

Repository Summary

Checkout URI	https://gitlab.com/lgdxrobotics/lgdxrobot2-rplidar-c1.git
VCS Type	git
VCS Version	jazzy
Last Updated	2026-07-17
Dev Status	MAINTAINED
Released	UNRELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Packages

Name	Version
lgdx_rplidar_c1	1.0.0

README

lgdx_rplidar_c1

Overview

Screenshot

Release Strategy - Built to Stay Current.

A modern ROS 2 Lyrical (or later) wrapper for the RPLIDAR C1, specifically designed for LGDXRobot2. This package is developed from scratch using C++20 and Boost. It supports composable nodes and is able to reconnect to the RPLIDAR if the connection is lost.

Limitations

While this package may work with other RPLIDAR models by changing the baud rate, there is no guarantee that it will be compatible with them. This package also does not support the following features:

Changing parameters on the fly: Parameters must be set before the node is started.
Reading from RPLIDAR over a network: This package is designed to work only with a serial connection.
DenseBoost scan mode: The RPLIDAR C1 does not support this mode out of the box. Although this package can read data from this mode, the results are not fully tested.

Installation

1.1. APT

Note: This package is only available on packages.lgdxrobot.uk

sudo apt install ros-lyrical-lgdx-rplidar-c1

To add the repository to your system, run the following commands. It supports both AMD64 and ARM64 architectures.

curl -L -s -o /tmp/lgdxrobot-apt-source.deb https://packages.lgdxrobot.uk/lgdxrobot-apt-source.deb
sudo dpkg -i /tmp/lgdxrobot-apt-source.deb
sudo apt update
rm -f /tmp/lgdxrobot-apt-source.deb

1.2. Build from source

This package has been tested on Ubuntu 26.04, but it should work on other operating systems, as no system-specific calls are used.

mkdir -p ~/lgdx_ws/src
cd ~/lgdx_ws/src
git clone https://gitlab.com/lgdxrobotics/lgdxrobot2-rplidar-c1.git
cd ..

# Install build dependencies
rosdep update
rosdep install --from-paths src --ignore-src -y

colcon build --symlink-install

2. Add UDEV rule

curl -L -o rplidar.rules https://gitlab.com/lgdxrobotics/lgdxrobot2-rplidar-c1/-/raw/main/udev/rplidar.rules
sudo cp rplidar.rules /etc/udev/rules.d
sudo service udev reload
sudo service udev restart

3. Launch

. install/setup.bash
ros2 launch lgdx_rplidar_c1 rplidar_c1_launch.py

Delete UDEV rule (Optional)

If you want to delete the UDEV rule, you can do so by running the following command:

sudo rm /etc/udev/rules.d/rplidar.rules
sudo service udev reload
sudo service udev restart

Parameters

Parameter	Type	Description
serial_port	string	RPLIDAR serial port name.
serial_baudrate	int	RPLIDAR serial port baud rate.
frame_id	string	Custom frame ID for the scan data.
inverted	bool	Whether to invert the scan data.
angle_compensate	bool	Publish scan data with a consistent number of points. Disable this option to publish the variable-sized data received directly from the RPLIDAR.
scan_mode	string	RPLIDAR scan mode.

Published Topics

Topic	Type	Description
scan	LaserScan	Scan data of the RPLIDAR.

File truncated at 100 lines see the full file

CONTRIBUTING

No version for distro hydro showing jazzy. Known supported distros are highlighted in the buttons above.

lgdxrobot2_rplidar_c1 repository

lgdx_rplidar_c1

ROS Distro
jazzy

Repository Summary

Checkout URI	https://gitlab.com/lgdxrobotics/lgdxrobot2-rplidar-c1.git
VCS Type	git
VCS Version	jazzy
Last Updated	2026-07-17
Dev Status	MAINTAINED
Released	UNRELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Packages

Name	Version
lgdx_rplidar_c1	1.0.0

README

lgdx_rplidar_c1

Overview

Screenshot

Release Strategy - Built to Stay Current.

A modern ROS 2 Lyrical (or later) wrapper for the RPLIDAR C1, specifically designed for LGDXRobot2. This package is developed from scratch using C++20 and Boost. It supports composable nodes and is able to reconnect to the RPLIDAR if the connection is lost.

Limitations

While this package may work with other RPLIDAR models by changing the baud rate, there is no guarantee that it will be compatible with them. This package also does not support the following features:

Changing parameters on the fly: Parameters must be set before the node is started.
Reading from RPLIDAR over a network: This package is designed to work only with a serial connection.
DenseBoost scan mode: The RPLIDAR C1 does not support this mode out of the box. Although this package can read data from this mode, the results are not fully tested.

Installation

1.1. APT

Note: This package is only available on packages.lgdxrobot.uk

sudo apt install ros-lyrical-lgdx-rplidar-c1

To add the repository to your system, run the following commands. It supports both AMD64 and ARM64 architectures.

curl -L -s -o /tmp/lgdxrobot-apt-source.deb https://packages.lgdxrobot.uk/lgdxrobot-apt-source.deb
sudo dpkg -i /tmp/lgdxrobot-apt-source.deb
sudo apt update
rm -f /tmp/lgdxrobot-apt-source.deb

1.2. Build from source

This package has been tested on Ubuntu 26.04, but it should work on other operating systems, as no system-specific calls are used.

mkdir -p ~/lgdx_ws/src
cd ~/lgdx_ws/src
git clone https://gitlab.com/lgdxrobotics/lgdxrobot2-rplidar-c1.git
cd ..

# Install build dependencies
rosdep update
rosdep install --from-paths src --ignore-src -y

colcon build --symlink-install

2. Add UDEV rule

curl -L -o rplidar.rules https://gitlab.com/lgdxrobotics/lgdxrobot2-rplidar-c1/-/raw/main/udev/rplidar.rules
sudo cp rplidar.rules /etc/udev/rules.d
sudo service udev reload
sudo service udev restart

3. Launch

. install/setup.bash
ros2 launch lgdx_rplidar_c1 rplidar_c1_launch.py

Delete UDEV rule (Optional)

If you want to delete the UDEV rule, you can do so by running the following command:

sudo rm /etc/udev/rules.d/rplidar.rules
sudo service udev reload
sudo service udev restart

Parameters

Parameter	Type	Description
serial_port	string	RPLIDAR serial port name.
serial_baudrate	int	RPLIDAR serial port baud rate.
frame_id	string	Custom frame ID for the scan data.
inverted	bool	Whether to invert the scan data.
angle_compensate	bool	Publish scan data with a consistent number of points. Disable this option to publish the variable-sized data received directly from the RPLIDAR.
scan_mode	string	RPLIDAR scan mode.

Published Topics

Topic	Type	Description
scan	LaserScan	Scan data of the RPLIDAR.

File truncated at 100 lines see the full file

CONTRIBUTING

No version for distro kinetic showing jazzy. Known supported distros are highlighted in the buttons above.

lgdxrobot2_rplidar_c1 repository

lgdx_rplidar_c1

ROS Distro
jazzy

Repository Summary

Checkout URI	https://gitlab.com/lgdxrobotics/lgdxrobot2-rplidar-c1.git
VCS Type	git
VCS Version	jazzy
Last Updated	2026-07-17
Dev Status	MAINTAINED
Released	UNRELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Packages

Name	Version
lgdx_rplidar_c1	1.0.0

README

lgdx_rplidar_c1

Overview

Screenshot

Release Strategy - Built to Stay Current.

A modern ROS 2 Lyrical (or later) wrapper for the RPLIDAR C1, specifically designed for LGDXRobot2. This package is developed from scratch using C++20 and Boost. It supports composable nodes and is able to reconnect to the RPLIDAR if the connection is lost.

Limitations

While this package may work with other RPLIDAR models by changing the baud rate, there is no guarantee that it will be compatible with them. This package also does not support the following features:

Changing parameters on the fly: Parameters must be set before the node is started.
Reading from RPLIDAR over a network: This package is designed to work only with a serial connection.
DenseBoost scan mode: The RPLIDAR C1 does not support this mode out of the box. Although this package can read data from this mode, the results are not fully tested.

Installation

1.1. APT

Note: This package is only available on packages.lgdxrobot.uk

sudo apt install ros-lyrical-lgdx-rplidar-c1

To add the repository to your system, run the following commands. It supports both AMD64 and ARM64 architectures.

curl -L -s -o /tmp/lgdxrobot-apt-source.deb https://packages.lgdxrobot.uk/lgdxrobot-apt-source.deb
sudo dpkg -i /tmp/lgdxrobot-apt-source.deb
sudo apt update
rm -f /tmp/lgdxrobot-apt-source.deb

1.2. Build from source

This package has been tested on Ubuntu 26.04, but it should work on other operating systems, as no system-specific calls are used.

mkdir -p ~/lgdx_ws/src
cd ~/lgdx_ws/src
git clone https://gitlab.com/lgdxrobotics/lgdxrobot2-rplidar-c1.git
cd ..

# Install build dependencies
rosdep update
rosdep install --from-paths src --ignore-src -y

colcon build --symlink-install

2. Add UDEV rule

curl -L -o rplidar.rules https://gitlab.com/lgdxrobotics/lgdxrobot2-rplidar-c1/-/raw/main/udev/rplidar.rules
sudo cp rplidar.rules /etc/udev/rules.d
sudo service udev reload
sudo service udev restart

3. Launch

. install/setup.bash
ros2 launch lgdx_rplidar_c1 rplidar_c1_launch.py

Delete UDEV rule (Optional)

If you want to delete the UDEV rule, you can do so by running the following command:

sudo rm /etc/udev/rules.d/rplidar.rules
sudo service udev reload
sudo service udev restart

Parameters

Parameter	Type	Description
serial_port	string	RPLIDAR serial port name.
serial_baudrate	int	RPLIDAR serial port baud rate.
frame_id	string	Custom frame ID for the scan data.
inverted	bool	Whether to invert the scan data.
angle_compensate	bool	Publish scan data with a consistent number of points. Disable this option to publish the variable-sized data received directly from the RPLIDAR.
scan_mode	string	RPLIDAR scan mode.

Published Topics

Topic	Type	Description
scan	LaserScan	Scan data of the RPLIDAR.

File truncated at 100 lines see the full file

CONTRIBUTING

No version for distro melodic showing jazzy. Known supported distros are highlighted in the buttons above.

lgdxrobot2_rplidar_c1 repository

lgdx_rplidar_c1

ROS Distro
jazzy

Repository Summary

Checkout URI	https://gitlab.com/lgdxrobotics/lgdxrobot2-rplidar-c1.git
VCS Type	git
VCS Version	jazzy
Last Updated	2026-07-17
Dev Status	MAINTAINED
Released	UNRELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Packages

Name	Version
lgdx_rplidar_c1	1.0.0

README

lgdx_rplidar_c1

Overview

Screenshot

Release Strategy - Built to Stay Current.

A modern ROS 2 Lyrical (or later) wrapper for the RPLIDAR C1, specifically designed for LGDXRobot2. This package is developed from scratch using C++20 and Boost. It supports composable nodes and is able to reconnect to the RPLIDAR if the connection is lost.

Limitations

While this package may work with other RPLIDAR models by changing the baud rate, there is no guarantee that it will be compatible with them. This package also does not support the following features:

Changing parameters on the fly: Parameters must be set before the node is started.
Reading from RPLIDAR over a network: This package is designed to work only with a serial connection.
DenseBoost scan mode: The RPLIDAR C1 does not support this mode out of the box. Although this package can read data from this mode, the results are not fully tested.

Installation

1.1. APT

Note: This package is only available on packages.lgdxrobot.uk

sudo apt install ros-lyrical-lgdx-rplidar-c1

To add the repository to your system, run the following commands. It supports both AMD64 and ARM64 architectures.

curl -L -s -o /tmp/lgdxrobot-apt-source.deb https://packages.lgdxrobot.uk/lgdxrobot-apt-source.deb
sudo dpkg -i /tmp/lgdxrobot-apt-source.deb
sudo apt update
rm -f /tmp/lgdxrobot-apt-source.deb

1.2. Build from source

This package has been tested on Ubuntu 26.04, but it should work on other operating systems, as no system-specific calls are used.

mkdir -p ~/lgdx_ws/src
cd ~/lgdx_ws/src
git clone https://gitlab.com/lgdxrobotics/lgdxrobot2-rplidar-c1.git
cd ..

# Install build dependencies
rosdep update
rosdep install --from-paths src --ignore-src -y

colcon build --symlink-install

2. Add UDEV rule

curl -L -o rplidar.rules https://gitlab.com/lgdxrobotics/lgdxrobot2-rplidar-c1/-/raw/main/udev/rplidar.rules
sudo cp rplidar.rules /etc/udev/rules.d
sudo service udev reload
sudo service udev restart

3. Launch

. install/setup.bash
ros2 launch lgdx_rplidar_c1 rplidar_c1_launch.py

Delete UDEV rule (Optional)

If you want to delete the UDEV rule, you can do so by running the following command:

sudo rm /etc/udev/rules.d/rplidar.rules
sudo service udev reload
sudo service udev restart

Parameters

Parameter	Type	Description
serial_port	string	RPLIDAR serial port name.
serial_baudrate	int	RPLIDAR serial port baud rate.
frame_id	string	Custom frame ID for the scan data.
inverted	bool	Whether to invert the scan data.
angle_compensate	bool	Publish scan data with a consistent number of points. Disable this option to publish the variable-sized data received directly from the RPLIDAR.
scan_mode	string	RPLIDAR scan mode.

Published Topics

Topic	Type	Description
scan	LaserScan	Scan data of the RPLIDAR.

File truncated at 100 lines see the full file

CONTRIBUTING

No version for distro noetic showing jazzy. Known supported distros are highlighted in the buttons above.

lgdxrobot2_rplidar_c1 repository

lgdx_rplidar_c1

ROS Distro
jazzy

Repository Summary

Checkout URI	https://gitlab.com/lgdxrobotics/lgdxrobot2-rplidar-c1.git
VCS Type	git
VCS Version	jazzy
Last Updated	2026-07-17
Dev Status	MAINTAINED
Released	UNRELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Packages

Name	Version
lgdx_rplidar_c1	1.0.0

README

lgdx_rplidar_c1

Overview

Screenshot

Release Strategy - Built to Stay Current.

A modern ROS 2 Lyrical (or later) wrapper for the RPLIDAR C1, specifically designed for LGDXRobot2. This package is developed from scratch using C++20 and Boost. It supports composable nodes and is able to reconnect to the RPLIDAR if the connection is lost.

Limitations

While this package may work with other RPLIDAR models by changing the baud rate, there is no guarantee that it will be compatible with them. This package also does not support the following features:

Changing parameters on the fly: Parameters must be set before the node is started.
Reading from RPLIDAR over a network: This package is designed to work only with a serial connection.
DenseBoost scan mode: The RPLIDAR C1 does not support this mode out of the box. Although this package can read data from this mode, the results are not fully tested.

Installation

1.1. APT

Note: This package is only available on packages.lgdxrobot.uk

sudo apt install ros-lyrical-lgdx-rplidar-c1

To add the repository to your system, run the following commands. It supports both AMD64 and ARM64 architectures.

curl -L -s -o /tmp/lgdxrobot-apt-source.deb https://packages.lgdxrobot.uk/lgdxrobot-apt-source.deb
sudo dpkg -i /tmp/lgdxrobot-apt-source.deb
sudo apt update
rm -f /tmp/lgdxrobot-apt-source.deb

1.2. Build from source

This package has been tested on Ubuntu 26.04, but it should work on other operating systems, as no system-specific calls are used.

mkdir -p ~/lgdx_ws/src
cd ~/lgdx_ws/src
git clone https://gitlab.com/lgdxrobotics/lgdxrobot2-rplidar-c1.git
cd ..

# Install build dependencies
rosdep update
rosdep install --from-paths src --ignore-src -y

colcon build --symlink-install

2. Add UDEV rule

curl -L -o rplidar.rules https://gitlab.com/lgdxrobotics/lgdxrobot2-rplidar-c1/-/raw/main/udev/rplidar.rules
sudo cp rplidar.rules /etc/udev/rules.d
sudo service udev reload
sudo service udev restart

3. Launch

. install/setup.bash
ros2 launch lgdx_rplidar_c1 rplidar_c1_launch.py

Delete UDEV rule (Optional)

If you want to delete the UDEV rule, you can do so by running the following command:

sudo rm /etc/udev/rules.d/rplidar.rules
sudo service udev reload
sudo service udev restart

Parameters

Parameter	Type	Description
serial_port	string	RPLIDAR serial port name.
serial_baudrate	int	RPLIDAR serial port baud rate.
frame_id	string	Custom frame ID for the scan data.
inverted	bool	Whether to invert the scan data.
angle_compensate	bool	Publish scan data with a consistent number of points. Disable this option to publish the variable-sized data received directly from the RPLIDAR.
scan_mode	string	RPLIDAR scan mode.

Published Topics

Topic	Type	Description
scan	LaserScan	Scan data of the RPLIDAR.

File truncated at 100 lines see the full file

lgdxrobot2_rplidar_c1 repository

ROS Distrojazzy

Repository Summary

Packages

README

lgdx_rplidar_c1

Overview

Limitations

Installation

1.1. APT

1.2. Build from source

2. Add UDEV rule

3. Launch

Delete UDEV rule (Optional)

Parameters

Published Topics

CONTRIBUTING

lgdxrobot2_rplidar_c1 repository

ROS Distrojazzy

Repository Summary

Packages

README

lgdx_rplidar_c1

Overview

Limitations

Installation

1.1. APT

1.2. Build from source

2. Add UDEV rule

3. Launch

Delete UDEV rule (Optional)

Parameters

Published Topics

CONTRIBUTING

lgdxrobot2_rplidar_c1 repository

ROS Distrojazzy

Repository Summary

Packages

README

lgdx_rplidar_c1

Overview

Limitations

Installation

1.1. APT

1.2. Build from source

2. Add UDEV rule

3. Launch

Delete UDEV rule (Optional)

Parameters

Published Topics

CONTRIBUTING

lgdxrobot2_rplidar_c1 repository

ROS Distrolyrical

Repository Summary

Packages

README

lgdx_rplidar_c1

Overview

Limitations

Installation

1.1. APT

1.2. Build from source

2. Add UDEV rule

3. Launch

Delete UDEV rule (Optional)

Parameters

Published Topics

CONTRIBUTING

lgdxrobot2_rplidar_c1 repository

ROS Distrojazzy

Repository Summary

Packages

README

lgdx_rplidar_c1

Overview

Limitations

Installation

1.1. APT

1.2. Build from source

2. Add UDEV rule

ROS Distro
jazzy

ROS Distro
jazzy

ROS Distro
jazzy

ROS Distro
lyrical

ROS Distro
jazzy

ROS Distro
jazzy

ROS Distro
jazzy

ROS Distro
jazzy

ROS Distro
jazzy