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

rplidar_driver repository

rplidar_driver

ROS Distro
jazzy

Repository Summary

Checkout URI	https://github.com/frozenreboot/rplidar_driver.git
VCS Type	git
VCS Version	main
Last Updated	2026-06-23
Dev Status	MAINTAINED
Released	UNRELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Packages

Name	Version
rplidar_driver	1.3.1

README

🛡️ Robust RPLIDAR ROS 2 Driver (Industrial-Grade)

[!CAUTION] BETA VERSION Please use with caution in production environments. Issues and PRs are highly welcome!

“Because the official driver shouldn’t crash just because you pulled the plug.”

This is a heavily refactored, fault-tolerant ROS 2 driver for Slamtec RPLIDAR. Designed with a Lifecycle State Machine and Thread-Safe Architecture, ensuring your robot keeps running even under hardware disconnection or permission failures.

⚡ Why Use This? (Table of Shame)

Feature	Official Slamtec ROS 2	This Driver (frozenreboot)
Hot-plug Recovery	❌ Crash / Hang	✅ Auto-reconnect via FSM
Permission Denied	❌ Silent Fail / Garbage Data	✅ Explicit Diagnostics
Dynamic Reconfigure	❌ Restart Required	✅ Runtime RPM/Mode Update
Zero-Copy Optimization	❌ N/A	✅ Smart Pointer & Move Semantics
Architecture	❌ Tight SDK Coupling	✅ Interface-based Abstraction

🧪 Call for Experiments: “Does it survive?”

I need your help to validate this driver on various robots! If you use this driver, please stress-test it (e.g., unplug USB while scanning, change RPM dynamically) and share your results.

📢 How to Submit a Report

Please open an issue with the title [Experiment] Your_Robot_Name and include:

Lidar Model: (e.g., A1, A2, S1…)
Recovery Log: (Copy paste the terminal output when you unplug/replug)
Screenshot: rqt_graph or rviz2

👉 Submit your Experiment Report Here

🚀 Getting Started

1. Installation

cd ~/ros2_ws/src
git clone https://github.com/frozenreboot/rplidar_driver.git
cd ..

# Install dependencies
sudo apt update
rosdep update
rosdep install --from-paths src --ignore-src -r -y

# Build the workspace
colcon build --symlink-install

2. Quick Launch

ros2 launch rplidar_driver rplidar.launch.py serial_port:=/dev/ttyUSB0

3. Dynamic Reconfigure (Runtime)

You can change the motor speed without killing the node:


ros2 param set /rplidar_node rpm 1000
ros2 param set /rplidar_node scan_mode DenseBoost

🏗️ Architecture

This driver uses a 3-Layer Design to decouple ROS 2 logic from the vendor SDK.

Node Layer: Handles Lifecycle & Parameters.
Wrapper Layer: Handles Threading & Mutex.
SDK Layer: Raw data fetching.

Architecture Diagram

👤 Author & Maintainer

frozenreboot - Initial Refactoring & Architecture Design

File truncated at 100 lines see the full file

CONTRIBUTING

rplidar_driver repository

rplidar_driver

ROS Distro
jazzy

Repository Summary

Checkout URI	https://github.com/frozenreboot/rplidar_driver.git
VCS Type	git
VCS Version	main
Last Updated	2026-06-23
Dev Status	MAINTAINED
Released	UNRELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Packages

Name	Version
rplidar_driver	1.3.1

README

🛡️ Robust RPLIDAR ROS 2 Driver (Industrial-Grade)

[!CAUTION] BETA VERSION Please use with caution in production environments. Issues and PRs are highly welcome!

“Because the official driver shouldn’t crash just because you pulled the plug.”

This is a heavily refactored, fault-tolerant ROS 2 driver for Slamtec RPLIDAR. Designed with a Lifecycle State Machine and Thread-Safe Architecture, ensuring your robot keeps running even under hardware disconnection or permission failures.

⚡ Why Use This? (Table of Shame)

Feature	Official Slamtec ROS 2	This Driver (frozenreboot)
Hot-plug Recovery	❌ Crash / Hang	✅ Auto-reconnect via FSM
Permission Denied	❌ Silent Fail / Garbage Data	✅ Explicit Diagnostics
Dynamic Reconfigure	❌ Restart Required	✅ Runtime RPM/Mode Update
Zero-Copy Optimization	❌ N/A	✅ Smart Pointer & Move Semantics
Architecture	❌ Tight SDK Coupling	✅ Interface-based Abstraction

🧪 Call for Experiments: “Does it survive?”

I need your help to validate this driver on various robots! If you use this driver, please stress-test it (e.g., unplug USB while scanning, change RPM dynamically) and share your results.

📢 How to Submit a Report

Please open an issue with the title [Experiment] Your_Robot_Name and include:

Lidar Model: (e.g., A1, A2, S1…)
Recovery Log: (Copy paste the terminal output when you unplug/replug)
Screenshot: rqt_graph or rviz2

👉 Submit your Experiment Report Here

🚀 Getting Started

1. Installation

cd ~/ros2_ws/src
git clone https://github.com/frozenreboot/rplidar_driver.git
cd ..

# Install dependencies
sudo apt update
rosdep update
rosdep install --from-paths src --ignore-src -r -y

# Build the workspace
colcon build --symlink-install

2. Quick Launch

ros2 launch rplidar_driver rplidar.launch.py serial_port:=/dev/ttyUSB0

3. Dynamic Reconfigure (Runtime)

You can change the motor speed without killing the node:


ros2 param set /rplidar_node rpm 1000
ros2 param set /rplidar_node scan_mode DenseBoost

🏗️ Architecture

This driver uses a 3-Layer Design to decouple ROS 2 logic from the vendor SDK.

Node Layer: Handles Lifecycle & Parameters.
Wrapper Layer: Handles Threading & Mutex.
SDK Layer: Raw data fetching.

Architecture Diagram

👤 Author & Maintainer

frozenreboot - Initial Refactoring & Architecture Design

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.

rplidar_driver repository

rplidar_driver

ROS Distro
jazzy

Repository Summary

Checkout URI	https://github.com/frozenreboot/rplidar_driver.git
VCS Type	git
VCS Version	main
Last Updated	2026-06-23
Dev Status	MAINTAINED
Released	UNRELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Packages

Name	Version
rplidar_driver	1.3.1

README

🛡️ Robust RPLIDAR ROS 2 Driver (Industrial-Grade)

[!CAUTION] BETA VERSION Please use with caution in production environments. Issues and PRs are highly welcome!

“Because the official driver shouldn’t crash just because you pulled the plug.”

This is a heavily refactored, fault-tolerant ROS 2 driver for Slamtec RPLIDAR. Designed with a Lifecycle State Machine and Thread-Safe Architecture, ensuring your robot keeps running even under hardware disconnection or permission failures.

⚡ Why Use This? (Table of Shame)

Feature	Official Slamtec ROS 2	This Driver (frozenreboot)
Hot-plug Recovery	❌ Crash / Hang	✅ Auto-reconnect via FSM
Permission Denied	❌ Silent Fail / Garbage Data	✅ Explicit Diagnostics
Dynamic Reconfigure	❌ Restart Required	✅ Runtime RPM/Mode Update
Zero-Copy Optimization	❌ N/A	✅ Smart Pointer & Move Semantics
Architecture	❌ Tight SDK Coupling	✅ Interface-based Abstraction

🧪 Call for Experiments: “Does it survive?”

I need your help to validate this driver on various robots! If you use this driver, please stress-test it (e.g., unplug USB while scanning, change RPM dynamically) and share your results.

📢 How to Submit a Report

Please open an issue with the title [Experiment] Your_Robot_Name and include:

Lidar Model: (e.g., A1, A2, S1…)
Recovery Log: (Copy paste the terminal output when you unplug/replug)
Screenshot: rqt_graph or rviz2

👉 Submit your Experiment Report Here

🚀 Getting Started

1. Installation

cd ~/ros2_ws/src
git clone https://github.com/frozenreboot/rplidar_driver.git
cd ..

# Install dependencies
sudo apt update
rosdep update
rosdep install --from-paths src --ignore-src -r -y

# Build the workspace
colcon build --symlink-install

2. Quick Launch

ros2 launch rplidar_driver rplidar.launch.py serial_port:=/dev/ttyUSB0

3. Dynamic Reconfigure (Runtime)

You can change the motor speed without killing the node:


ros2 param set /rplidar_node rpm 1000
ros2 param set /rplidar_node scan_mode DenseBoost

🏗️ Architecture

This driver uses a 3-Layer Design to decouple ROS 2 logic from the vendor SDK.

Node Layer: Handles Lifecycle & Parameters.
Wrapper Layer: Handles Threading & Mutex.
SDK Layer: Raw data fetching.

Architecture Diagram

👤 Author & Maintainer

frozenreboot - Initial Refactoring & Architecture Design

File truncated at 100 lines see the full file

CONTRIBUTING

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

rplidar_driver repository

rplidar_driver

ROS Distro
jazzy

Repository Summary

Checkout URI	https://github.com/frozenreboot/rplidar_driver.git
VCS Type	git
VCS Version	main
Last Updated	2026-06-23
Dev Status	MAINTAINED
Released	UNRELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Packages

Name	Version
rplidar_driver	1.3.1

README

🛡️ Robust RPLIDAR ROS 2 Driver (Industrial-Grade)

[!CAUTION] BETA VERSION Please use with caution in production environments. Issues and PRs are highly welcome!

“Because the official driver shouldn’t crash just because you pulled the plug.”

This is a heavily refactored, fault-tolerant ROS 2 driver for Slamtec RPLIDAR. Designed with a Lifecycle State Machine and Thread-Safe Architecture, ensuring your robot keeps running even under hardware disconnection or permission failures.

⚡ Why Use This? (Table of Shame)

Feature	Official Slamtec ROS 2	This Driver (frozenreboot)
Hot-plug Recovery	❌ Crash / Hang	✅ Auto-reconnect via FSM
Permission Denied	❌ Silent Fail / Garbage Data	✅ Explicit Diagnostics
Dynamic Reconfigure	❌ Restart Required	✅ Runtime RPM/Mode Update
Zero-Copy Optimization	❌ N/A	✅ Smart Pointer & Move Semantics
Architecture	❌ Tight SDK Coupling	✅ Interface-based Abstraction

🧪 Call for Experiments: “Does it survive?”

I need your help to validate this driver on various robots! If you use this driver, please stress-test it (e.g., unplug USB while scanning, change RPM dynamically) and share your results.

📢 How to Submit a Report

Please open an issue with the title [Experiment] Your_Robot_Name and include:

Lidar Model: (e.g., A1, A2, S1…)
Recovery Log: (Copy paste the terminal output when you unplug/replug)
Screenshot: rqt_graph or rviz2

👉 Submit your Experiment Report Here

🚀 Getting Started

1. Installation

cd ~/ros2_ws/src
git clone https://github.com/frozenreboot/rplidar_driver.git
cd ..

# Install dependencies
sudo apt update
rosdep update
rosdep install --from-paths src --ignore-src -r -y

# Build the workspace
colcon build --symlink-install

2. Quick Launch

ros2 launch rplidar_driver rplidar.launch.py serial_port:=/dev/ttyUSB0

3. Dynamic Reconfigure (Runtime)

You can change the motor speed without killing the node:


ros2 param set /rplidar_node rpm 1000
ros2 param set /rplidar_node scan_mode DenseBoost

🏗️ Architecture

This driver uses a 3-Layer Design to decouple ROS 2 logic from the vendor SDK.

Node Layer: Handles Lifecycle & Parameters.
Wrapper Layer: Handles Threading & Mutex.
SDK Layer: Raw data fetching.

Architecture Diagram

👤 Author & Maintainer

frozenreboot - Initial Refactoring & Architecture Design

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.

rplidar_driver repository

rplidar_driver

ROS Distro
jazzy

Repository Summary

Checkout URI	https://github.com/frozenreboot/rplidar_driver.git
VCS Type	git
VCS Version	main
Last Updated	2026-06-23
Dev Status	MAINTAINED
Released	UNRELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Packages

Name	Version
rplidar_driver	1.3.1

README

🛡️ Robust RPLIDAR ROS 2 Driver (Industrial-Grade)

[!CAUTION] BETA VERSION Please use with caution in production environments. Issues and PRs are highly welcome!

“Because the official driver shouldn’t crash just because you pulled the plug.”

This is a heavily refactored, fault-tolerant ROS 2 driver for Slamtec RPLIDAR. Designed with a Lifecycle State Machine and Thread-Safe Architecture, ensuring your robot keeps running even under hardware disconnection or permission failures.

⚡ Why Use This? (Table of Shame)

Feature	Official Slamtec ROS 2	This Driver (frozenreboot)
Hot-plug Recovery	❌ Crash / Hang	✅ Auto-reconnect via FSM
Permission Denied	❌ Silent Fail / Garbage Data	✅ Explicit Diagnostics
Dynamic Reconfigure	❌ Restart Required	✅ Runtime RPM/Mode Update
Zero-Copy Optimization	❌ N/A	✅ Smart Pointer & Move Semantics
Architecture	❌ Tight SDK Coupling	✅ Interface-based Abstraction

🧪 Call for Experiments: “Does it survive?”

I need your help to validate this driver on various robots! If you use this driver, please stress-test it (e.g., unplug USB while scanning, change RPM dynamically) and share your results.

📢 How to Submit a Report

Please open an issue with the title [Experiment] Your_Robot_Name and include:

Lidar Model: (e.g., A1, A2, S1…)
Recovery Log: (Copy paste the terminal output when you unplug/replug)
Screenshot: rqt_graph or rviz2

👉 Submit your Experiment Report Here

🚀 Getting Started

1. Installation

cd ~/ros2_ws/src
git clone https://github.com/frozenreboot/rplidar_driver.git
cd ..

# Install dependencies
sudo apt update
rosdep update
rosdep install --from-paths src --ignore-src -r -y

# Build the workspace
colcon build --symlink-install

2. Quick Launch

ros2 launch rplidar_driver rplidar.launch.py serial_port:=/dev/ttyUSB0

3. Dynamic Reconfigure (Runtime)

You can change the motor speed without killing the node:


ros2 param set /rplidar_node rpm 1000
ros2 param set /rplidar_node scan_mode DenseBoost

🏗️ Architecture

This driver uses a 3-Layer Design to decouple ROS 2 logic from the vendor SDK.

Node Layer: Handles Lifecycle & Parameters.
Wrapper Layer: Handles Threading & Mutex.
SDK Layer: Raw data fetching.

Architecture Diagram

👤 Author & Maintainer

frozenreboot - Initial Refactoring & Architecture Design

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.

rplidar_driver repository

rplidar_driver

ROS Distro
jazzy

Repository Summary

Checkout URI	https://github.com/frozenreboot/rplidar_driver.git
VCS Type	git
VCS Version	main
Last Updated	2026-06-23
Dev Status	MAINTAINED
Released	UNRELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Packages

Name	Version
rplidar_driver	1.3.1

README

🛡️ Robust RPLIDAR ROS 2 Driver (Industrial-Grade)

[!CAUTION] BETA VERSION Please use with caution in production environments. Issues and PRs are highly welcome!

“Because the official driver shouldn’t crash just because you pulled the plug.”

This is a heavily refactored, fault-tolerant ROS 2 driver for Slamtec RPLIDAR. Designed with a Lifecycle State Machine and Thread-Safe Architecture, ensuring your robot keeps running even under hardware disconnection or permission failures.

⚡ Why Use This? (Table of Shame)

Feature	Official Slamtec ROS 2	This Driver (frozenreboot)
Hot-plug Recovery	❌ Crash / Hang	✅ Auto-reconnect via FSM
Permission Denied	❌ Silent Fail / Garbage Data	✅ Explicit Diagnostics
Dynamic Reconfigure	❌ Restart Required	✅ Runtime RPM/Mode Update
Zero-Copy Optimization	❌ N/A	✅ Smart Pointer & Move Semantics
Architecture	❌ Tight SDK Coupling	✅ Interface-based Abstraction

🧪 Call for Experiments: “Does it survive?”

I need your help to validate this driver on various robots! If you use this driver, please stress-test it (e.g., unplug USB while scanning, change RPM dynamically) and share your results.

📢 How to Submit a Report

Please open an issue with the title [Experiment] Your_Robot_Name and include:

Lidar Model: (e.g., A1, A2, S1…)
Recovery Log: (Copy paste the terminal output when you unplug/replug)
Screenshot: rqt_graph or rviz2

👉 Submit your Experiment Report Here

🚀 Getting Started

1. Installation

cd ~/ros2_ws/src
git clone https://github.com/frozenreboot/rplidar_driver.git
cd ..

# Install dependencies
sudo apt update
rosdep update
rosdep install --from-paths src --ignore-src -r -y

# Build the workspace
colcon build --symlink-install

2. Quick Launch

ros2 launch rplidar_driver rplidar.launch.py serial_port:=/dev/ttyUSB0

3. Dynamic Reconfigure (Runtime)

You can change the motor speed without killing the node:


ros2 param set /rplidar_node rpm 1000
ros2 param set /rplidar_node scan_mode DenseBoost

🏗️ Architecture

This driver uses a 3-Layer Design to decouple ROS 2 logic from the vendor SDK.

Node Layer: Handles Lifecycle & Parameters.
Wrapper Layer: Handles Threading & Mutex.
SDK Layer: Raw data fetching.

Architecture Diagram

👤 Author & Maintainer

frozenreboot - Initial Refactoring & Architecture Design

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.

rplidar_driver repository

rplidar_driver

ROS Distro
jazzy

Repository Summary

Checkout URI	https://github.com/frozenreboot/rplidar_driver.git
VCS Type	git
VCS Version	main
Last Updated	2026-06-23
Dev Status	MAINTAINED
Released	UNRELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Packages

Name	Version
rplidar_driver	1.3.1

README

🛡️ Robust RPLIDAR ROS 2 Driver (Industrial-Grade)

[!CAUTION] BETA VERSION Please use with caution in production environments. Issues and PRs are highly welcome!

“Because the official driver shouldn’t crash just because you pulled the plug.”

This is a heavily refactored, fault-tolerant ROS 2 driver for Slamtec RPLIDAR. Designed with a Lifecycle State Machine and Thread-Safe Architecture, ensuring your robot keeps running even under hardware disconnection or permission failures.

⚡ Why Use This? (Table of Shame)

Feature	Official Slamtec ROS 2	This Driver (frozenreboot)
Hot-plug Recovery	❌ Crash / Hang	✅ Auto-reconnect via FSM
Permission Denied	❌ Silent Fail / Garbage Data	✅ Explicit Diagnostics
Dynamic Reconfigure	❌ Restart Required	✅ Runtime RPM/Mode Update
Zero-Copy Optimization	❌ N/A	✅ Smart Pointer & Move Semantics
Architecture	❌ Tight SDK Coupling	✅ Interface-based Abstraction

🧪 Call for Experiments: “Does it survive?”

I need your help to validate this driver on various robots! If you use this driver, please stress-test it (e.g., unplug USB while scanning, change RPM dynamically) and share your results.

📢 How to Submit a Report

Please open an issue with the title [Experiment] Your_Robot_Name and include:

Lidar Model: (e.g., A1, A2, S1…)
Recovery Log: (Copy paste the terminal output when you unplug/replug)
Screenshot: rqt_graph or rviz2

👉 Submit your Experiment Report Here

🚀 Getting Started

1. Installation

cd ~/ros2_ws/src
git clone https://github.com/frozenreboot/rplidar_driver.git
cd ..

# Install dependencies
sudo apt update
rosdep update
rosdep install --from-paths src --ignore-src -r -y

# Build the workspace
colcon build --symlink-install

2. Quick Launch

ros2 launch rplidar_driver rplidar.launch.py serial_port:=/dev/ttyUSB0

3. Dynamic Reconfigure (Runtime)

You can change the motor speed without killing the node:


ros2 param set /rplidar_node rpm 1000
ros2 param set /rplidar_node scan_mode DenseBoost

🏗️ Architecture

This driver uses a 3-Layer Design to decouple ROS 2 logic from the vendor SDK.

Node Layer: Handles Lifecycle & Parameters.
Wrapper Layer: Handles Threading & Mutex.
SDK Layer: Raw data fetching.

Architecture Diagram

👤 Author & Maintainer

frozenreboot - Initial Refactoring & Architecture Design

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.

rplidar_driver repository

rplidar_driver

ROS Distro
jazzy

Repository Summary

Checkout URI	https://github.com/frozenreboot/rplidar_driver.git
VCS Type	git
VCS Version	main
Last Updated	2026-06-23
Dev Status	MAINTAINED
Released	UNRELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Packages

Name	Version
rplidar_driver	1.3.1

README

🛡️ Robust RPLIDAR ROS 2 Driver (Industrial-Grade)

[!CAUTION] BETA VERSION Please use with caution in production environments. Issues and PRs are highly welcome!

“Because the official driver shouldn’t crash just because you pulled the plug.”

This is a heavily refactored, fault-tolerant ROS 2 driver for Slamtec RPLIDAR. Designed with a Lifecycle State Machine and Thread-Safe Architecture, ensuring your robot keeps running even under hardware disconnection or permission failures.

⚡ Why Use This? (Table of Shame)

Feature	Official Slamtec ROS 2	This Driver (frozenreboot)
Hot-plug Recovery	❌ Crash / Hang	✅ Auto-reconnect via FSM
Permission Denied	❌ Silent Fail / Garbage Data	✅ Explicit Diagnostics
Dynamic Reconfigure	❌ Restart Required	✅ Runtime RPM/Mode Update
Zero-Copy Optimization	❌ N/A	✅ Smart Pointer & Move Semantics
Architecture	❌ Tight SDK Coupling	✅ Interface-based Abstraction

🧪 Call for Experiments: “Does it survive?”

I need your help to validate this driver on various robots! If you use this driver, please stress-test it (e.g., unplug USB while scanning, change RPM dynamically) and share your results.

📢 How to Submit a Report

Please open an issue with the title [Experiment] Your_Robot_Name and include:

Lidar Model: (e.g., A1, A2, S1…)
Recovery Log: (Copy paste the terminal output when you unplug/replug)
Screenshot: rqt_graph or rviz2

👉 Submit your Experiment Report Here

🚀 Getting Started

1. Installation

cd ~/ros2_ws/src
git clone https://github.com/frozenreboot/rplidar_driver.git
cd ..

# Install dependencies
sudo apt update
rosdep update
rosdep install --from-paths src --ignore-src -r -y

# Build the workspace
colcon build --symlink-install

2. Quick Launch

ros2 launch rplidar_driver rplidar.launch.py serial_port:=/dev/ttyUSB0

3. Dynamic Reconfigure (Runtime)

You can change the motor speed without killing the node:


ros2 param set /rplidar_node rpm 1000
ros2 param set /rplidar_node scan_mode DenseBoost

🏗️ Architecture

This driver uses a 3-Layer Design to decouple ROS 2 logic from the vendor SDK.

Node Layer: Handles Lifecycle & Parameters.
Wrapper Layer: Handles Threading & Mutex.
SDK Layer: Raw data fetching.

Architecture Diagram

👤 Author & Maintainer

frozenreboot - Initial Refactoring & Architecture Design

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.

rplidar_driver repository

rplidar_driver

ROS Distro
jazzy

Repository Summary

Checkout URI	https://github.com/frozenreboot/rplidar_driver.git
VCS Type	git
VCS Version	main
Last Updated	2026-06-23
Dev Status	MAINTAINED
Released	UNRELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Packages

Name	Version
rplidar_driver	1.3.1

README

🛡️ Robust RPLIDAR ROS 2 Driver (Industrial-Grade)

[!CAUTION] BETA VERSION Please use with caution in production environments. Issues and PRs are highly welcome!

“Because the official driver shouldn’t crash just because you pulled the plug.”

This is a heavily refactored, fault-tolerant ROS 2 driver for Slamtec RPLIDAR. Designed with a Lifecycle State Machine and Thread-Safe Architecture, ensuring your robot keeps running even under hardware disconnection or permission failures.

⚡ Why Use This? (Table of Shame)

Feature	Official Slamtec ROS 2	This Driver (frozenreboot)
Hot-plug Recovery	❌ Crash / Hang	✅ Auto-reconnect via FSM
Permission Denied	❌ Silent Fail / Garbage Data	✅ Explicit Diagnostics
Dynamic Reconfigure	❌ Restart Required	✅ Runtime RPM/Mode Update
Zero-Copy Optimization	❌ N/A	✅ Smart Pointer & Move Semantics
Architecture	❌ Tight SDK Coupling	✅ Interface-based Abstraction

🧪 Call for Experiments: “Does it survive?”

I need your help to validate this driver on various robots! If you use this driver, please stress-test it (e.g., unplug USB while scanning, change RPM dynamically) and share your results.

📢 How to Submit a Report

Please open an issue with the title [Experiment] Your_Robot_Name and include:

Lidar Model: (e.g., A1, A2, S1…)
Recovery Log: (Copy paste the terminal output when you unplug/replug)
Screenshot: rqt_graph or rviz2

👉 Submit your Experiment Report Here

🚀 Getting Started

1. Installation

cd ~/ros2_ws/src
git clone https://github.com/frozenreboot/rplidar_driver.git
cd ..

# Install dependencies
sudo apt update
rosdep update
rosdep install --from-paths src --ignore-src -r -y

# Build the workspace
colcon build --symlink-install

2. Quick Launch

ros2 launch rplidar_driver rplidar.launch.py serial_port:=/dev/ttyUSB0

3. Dynamic Reconfigure (Runtime)

You can change the motor speed without killing the node:


ros2 param set /rplidar_node rpm 1000
ros2 param set /rplidar_node scan_mode DenseBoost

🏗️ Architecture

This driver uses a 3-Layer Design to decouple ROS 2 logic from the vendor SDK.

Node Layer: Handles Lifecycle & Parameters.
Wrapper Layer: Handles Threading & Mutex.
SDK Layer: Raw data fetching.

Architecture Diagram

👤 Author & Maintainer

frozenreboot - Initial Refactoring & Architecture Design

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.

rplidar_driver repository

rplidar_driver

ROS Distro
jazzy

Repository Summary

Checkout URI	https://github.com/frozenreboot/rplidar_driver.git
VCS Type	git
VCS Version	main
Last Updated	2026-06-23
Dev Status	MAINTAINED
Released	UNRELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Packages

Name	Version
rplidar_driver	1.3.1

README

🛡️ Robust RPLIDAR ROS 2 Driver (Industrial-Grade)

[!CAUTION] BETA VERSION Please use with caution in production environments. Issues and PRs are highly welcome!

“Because the official driver shouldn’t crash just because you pulled the plug.”

This is a heavily refactored, fault-tolerant ROS 2 driver for Slamtec RPLIDAR. Designed with a Lifecycle State Machine and Thread-Safe Architecture, ensuring your robot keeps running even under hardware disconnection or permission failures.

⚡ Why Use This? (Table of Shame)

Feature	Official Slamtec ROS 2	This Driver (frozenreboot)
Hot-plug Recovery	❌ Crash / Hang	✅ Auto-reconnect via FSM
Permission Denied	❌ Silent Fail / Garbage Data	✅ Explicit Diagnostics
Dynamic Reconfigure	❌ Restart Required	✅ Runtime RPM/Mode Update
Zero-Copy Optimization	❌ N/A	✅ Smart Pointer & Move Semantics
Architecture	❌ Tight SDK Coupling	✅ Interface-based Abstraction

🧪 Call for Experiments: “Does it survive?”

I need your help to validate this driver on various robots! If you use this driver, please stress-test it (e.g., unplug USB while scanning, change RPM dynamically) and share your results.

📢 How to Submit a Report

Please open an issue with the title [Experiment] Your_Robot_Name and include:

Lidar Model: (e.g., A1, A2, S1…)
Recovery Log: (Copy paste the terminal output when you unplug/replug)
Screenshot: rqt_graph or rviz2

👉 Submit your Experiment Report Here

🚀 Getting Started

1. Installation

cd ~/ros2_ws/src
git clone https://github.com/frozenreboot/rplidar_driver.git
cd ..

# Install dependencies
sudo apt update
rosdep update
rosdep install --from-paths src --ignore-src -r -y

# Build the workspace
colcon build --symlink-install

2. Quick Launch

ros2 launch rplidar_driver rplidar.launch.py serial_port:=/dev/ttyUSB0

3. Dynamic Reconfigure (Runtime)

You can change the motor speed without killing the node:


ros2 param set /rplidar_node rpm 1000
ros2 param set /rplidar_node scan_mode DenseBoost

🏗️ Architecture

This driver uses a 3-Layer Design to decouple ROS 2 logic from the vendor SDK.

Node Layer: Handles Lifecycle & Parameters.
Wrapper Layer: Handles Threading & Mutex.
SDK Layer: Raw data fetching.

Architecture Diagram

👤 Author & Maintainer

frozenreboot - Initial Refactoring & Architecture Design

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.

rplidar_driver repository

rplidar_driver

ROS Distro
jazzy

Repository Summary

Checkout URI	https://github.com/frozenreboot/rplidar_driver.git
VCS Type	git
VCS Version	main
Last Updated	2026-06-23
Dev Status	MAINTAINED
Released	UNRELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Packages

Name	Version
rplidar_driver	1.3.1

README

🛡️ Robust RPLIDAR ROS 2 Driver (Industrial-Grade)

[!CAUTION] BETA VERSION Please use with caution in production environments. Issues and PRs are highly welcome!

“Because the official driver shouldn’t crash just because you pulled the plug.”

This is a heavily refactored, fault-tolerant ROS 2 driver for Slamtec RPLIDAR. Designed with a Lifecycle State Machine and Thread-Safe Architecture, ensuring your robot keeps running even under hardware disconnection or permission failures.

⚡ Why Use This? (Table of Shame)

Feature	Official Slamtec ROS 2	This Driver (frozenreboot)
Hot-plug Recovery	❌ Crash / Hang	✅ Auto-reconnect via FSM
Permission Denied	❌ Silent Fail / Garbage Data	✅ Explicit Diagnostics
Dynamic Reconfigure	❌ Restart Required	✅ Runtime RPM/Mode Update
Zero-Copy Optimization	❌ N/A	✅ Smart Pointer & Move Semantics
Architecture	❌ Tight SDK Coupling	✅ Interface-based Abstraction

🧪 Call for Experiments: “Does it survive?”

I need your help to validate this driver on various robots! If you use this driver, please stress-test it (e.g., unplug USB while scanning, change RPM dynamically) and share your results.

📢 How to Submit a Report

Please open an issue with the title [Experiment] Your_Robot_Name and include:

Lidar Model: (e.g., A1, A2, S1…)
Recovery Log: (Copy paste the terminal output when you unplug/replug)
Screenshot: rqt_graph or rviz2

👉 Submit your Experiment Report Here

🚀 Getting Started

1. Installation

cd ~/ros2_ws/src
git clone https://github.com/frozenreboot/rplidar_driver.git
cd ..

# Install dependencies
sudo apt update
rosdep update
rosdep install --from-paths src --ignore-src -r -y

# Build the workspace
colcon build --symlink-install

2. Quick Launch

ros2 launch rplidar_driver rplidar.launch.py serial_port:=/dev/ttyUSB0

3. Dynamic Reconfigure (Runtime)

You can change the motor speed without killing the node:


ros2 param set /rplidar_node rpm 1000
ros2 param set /rplidar_node scan_mode DenseBoost

🏗️ Architecture

This driver uses a 3-Layer Design to decouple ROS 2 logic from the vendor SDK.

Node Layer: Handles Lifecycle & Parameters.
Wrapper Layer: Handles Threading & Mutex.
SDK Layer: Raw data fetching.

Architecture Diagram

👤 Author & Maintainer

frozenreboot - Initial Refactoring & Architecture Design

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.

rplidar_driver repository

rplidar_driver

ROS Distro
jazzy

Repository Summary

Checkout URI	https://github.com/frozenreboot/rplidar_driver.git
VCS Type	git
VCS Version	main
Last Updated	2026-06-23
Dev Status	MAINTAINED
Released	UNRELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Packages

Name	Version
rplidar_driver	1.3.1

README

🛡️ Robust RPLIDAR ROS 2 Driver (Industrial-Grade)

[!CAUTION] BETA VERSION Please use with caution in production environments. Issues and PRs are highly welcome!

“Because the official driver shouldn’t crash just because you pulled the plug.”

This is a heavily refactored, fault-tolerant ROS 2 driver for Slamtec RPLIDAR. Designed with a Lifecycle State Machine and Thread-Safe Architecture, ensuring your robot keeps running even under hardware disconnection or permission failures.

⚡ Why Use This? (Table of Shame)

Feature	Official Slamtec ROS 2	This Driver (frozenreboot)
Hot-plug Recovery	❌ Crash / Hang	✅ Auto-reconnect via FSM
Permission Denied	❌ Silent Fail / Garbage Data	✅ Explicit Diagnostics
Dynamic Reconfigure	❌ Restart Required	✅ Runtime RPM/Mode Update
Zero-Copy Optimization	❌ N/A	✅ Smart Pointer & Move Semantics
Architecture	❌ Tight SDK Coupling	✅ Interface-based Abstraction

🧪 Call for Experiments: “Does it survive?”

I need your help to validate this driver on various robots! If you use this driver, please stress-test it (e.g., unplug USB while scanning, change RPM dynamically) and share your results.

📢 How to Submit a Report

Please open an issue with the title [Experiment] Your_Robot_Name and include:

Lidar Model: (e.g., A1, A2, S1…)
Recovery Log: (Copy paste the terminal output when you unplug/replug)
Screenshot: rqt_graph or rviz2

👉 Submit your Experiment Report Here

🚀 Getting Started

1. Installation

cd ~/ros2_ws/src
git clone https://github.com/frozenreboot/rplidar_driver.git
cd ..

# Install dependencies
sudo apt update
rosdep update
rosdep install --from-paths src --ignore-src -r -y

# Build the workspace
colcon build --symlink-install

2. Quick Launch

ros2 launch rplidar_driver rplidar.launch.py serial_port:=/dev/ttyUSB0

3. Dynamic Reconfigure (Runtime)

You can change the motor speed without killing the node:


ros2 param set /rplidar_node rpm 1000
ros2 param set /rplidar_node scan_mode DenseBoost

🏗️ Architecture

This driver uses a 3-Layer Design to decouple ROS 2 logic from the vendor SDK.

Node Layer: Handles Lifecycle & Parameters.
Wrapper Layer: Handles Threading & Mutex.
SDK Layer: Raw data fetching.

Architecture Diagram

👤 Author & Maintainer

frozenreboot - Initial Refactoring & Architecture Design

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.

rplidar_driver repository

rplidar_driver

ROS Distro
jazzy

Repository Summary

Checkout URI	https://github.com/frozenreboot/rplidar_driver.git
VCS Type	git
VCS Version	main
Last Updated	2026-06-23
Dev Status	MAINTAINED
Released	UNRELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Packages

Name	Version
rplidar_driver	1.3.1

README

🛡️ Robust RPLIDAR ROS 2 Driver (Industrial-Grade)

[!CAUTION] BETA VERSION Please use with caution in production environments. Issues and PRs are highly welcome!

“Because the official driver shouldn’t crash just because you pulled the plug.”

This is a heavily refactored, fault-tolerant ROS 2 driver for Slamtec RPLIDAR. Designed with a Lifecycle State Machine and Thread-Safe Architecture, ensuring your robot keeps running even under hardware disconnection or permission failures.

⚡ Why Use This? (Table of Shame)

Feature	Official Slamtec ROS 2	This Driver (frozenreboot)
Hot-plug Recovery	❌ Crash / Hang	✅ Auto-reconnect via FSM
Permission Denied	❌ Silent Fail / Garbage Data	✅ Explicit Diagnostics
Dynamic Reconfigure	❌ Restart Required	✅ Runtime RPM/Mode Update
Zero-Copy Optimization	❌ N/A	✅ Smart Pointer & Move Semantics
Architecture	❌ Tight SDK Coupling	✅ Interface-based Abstraction

🧪 Call for Experiments: “Does it survive?”

I need your help to validate this driver on various robots! If you use this driver, please stress-test it (e.g., unplug USB while scanning, change RPM dynamically) and share your results.

📢 How to Submit a Report

Please open an issue with the title [Experiment] Your_Robot_Name and include:

Lidar Model: (e.g., A1, A2, S1…)
Recovery Log: (Copy paste the terminal output when you unplug/replug)
Screenshot: rqt_graph or rviz2

👉 Submit your Experiment Report Here

🚀 Getting Started

1. Installation

cd ~/ros2_ws/src
git clone https://github.com/frozenreboot/rplidar_driver.git
cd ..

# Install dependencies
sudo apt update
rosdep update
rosdep install --from-paths src --ignore-src -r -y

# Build the workspace
colcon build --symlink-install

2. Quick Launch

ros2 launch rplidar_driver rplidar.launch.py serial_port:=/dev/ttyUSB0

3. Dynamic Reconfigure (Runtime)

You can change the motor speed without killing the node:


ros2 param set /rplidar_node rpm 1000
ros2 param set /rplidar_node scan_mode DenseBoost

🏗️ Architecture

This driver uses a 3-Layer Design to decouple ROS 2 logic from the vendor SDK.

Node Layer: Handles Lifecycle & Parameters.
Wrapper Layer: Handles Threading & Mutex.
SDK Layer: Raw data fetching.

Architecture Diagram

👤 Author & Maintainer

frozenreboot - Initial Refactoring & Architecture Design

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.

rplidar_driver repository

rplidar_driver

ROS Distro
jazzy

Repository Summary

Checkout URI	https://github.com/frozenreboot/rplidar_driver.git
VCS Type	git
VCS Version	main
Last Updated	2026-06-23
Dev Status	MAINTAINED
Released	UNRELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Packages

Name	Version
rplidar_driver	1.3.1

README

🛡️ Robust RPLIDAR ROS 2 Driver (Industrial-Grade)

[!CAUTION] BETA VERSION Please use with caution in production environments. Issues and PRs are highly welcome!

“Because the official driver shouldn’t crash just because you pulled the plug.”

This is a heavily refactored, fault-tolerant ROS 2 driver for Slamtec RPLIDAR. Designed with a Lifecycle State Machine and Thread-Safe Architecture, ensuring your robot keeps running even under hardware disconnection or permission failures.

⚡ Why Use This? (Table of Shame)

Feature	Official Slamtec ROS 2	This Driver (frozenreboot)
Hot-plug Recovery	❌ Crash / Hang	✅ Auto-reconnect via FSM
Permission Denied	❌ Silent Fail / Garbage Data	✅ Explicit Diagnostics
Dynamic Reconfigure	❌ Restart Required	✅ Runtime RPM/Mode Update
Zero-Copy Optimization	❌ N/A	✅ Smart Pointer & Move Semantics
Architecture	❌ Tight SDK Coupling	✅ Interface-based Abstraction

🧪 Call for Experiments: “Does it survive?”

I need your help to validate this driver on various robots! If you use this driver, please stress-test it (e.g., unplug USB while scanning, change RPM dynamically) and share your results.

📢 How to Submit a Report

Please open an issue with the title [Experiment] Your_Robot_Name and include:

Lidar Model: (e.g., A1, A2, S1…)
Recovery Log: (Copy paste the terminal output when you unplug/replug)
Screenshot: rqt_graph or rviz2

👉 Submit your Experiment Report Here

🚀 Getting Started

1. Installation

cd ~/ros2_ws/src
git clone https://github.com/frozenreboot/rplidar_driver.git
cd ..

# Install dependencies
sudo apt update
rosdep update
rosdep install --from-paths src --ignore-src -r -y

# Build the workspace
colcon build --symlink-install

2. Quick Launch

ros2 launch rplidar_driver rplidar.launch.py serial_port:=/dev/ttyUSB0

3. Dynamic Reconfigure (Runtime)

You can change the motor speed without killing the node:


ros2 param set /rplidar_node rpm 1000
ros2 param set /rplidar_node scan_mode DenseBoost

🏗️ Architecture

This driver uses a 3-Layer Design to decouple ROS 2 logic from the vendor SDK.

Node Layer: Handles Lifecycle & Parameters.
Wrapper Layer: Handles Threading & Mutex.
SDK Layer: Raw data fetching.

Architecture Diagram

👤 Author & Maintainer

frozenreboot - Initial Refactoring & Architecture Design

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.

rplidar_driver repository

rplidar_driver

ROS Distro
jazzy

Repository Summary

Checkout URI	https://github.com/frozenreboot/rplidar_driver.git
VCS Type	git
VCS Version	main
Last Updated	2026-06-23
Dev Status	MAINTAINED
Released	UNRELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Packages

Name	Version
rplidar_driver	1.3.1

README

🛡️ Robust RPLIDAR ROS 2 Driver (Industrial-Grade)

[!CAUTION] BETA VERSION Please use with caution in production environments. Issues and PRs are highly welcome!

“Because the official driver shouldn’t crash just because you pulled the plug.”

This is a heavily refactored, fault-tolerant ROS 2 driver for Slamtec RPLIDAR. Designed with a Lifecycle State Machine and Thread-Safe Architecture, ensuring your robot keeps running even under hardware disconnection or permission failures.

⚡ Why Use This? (Table of Shame)

Feature	Official Slamtec ROS 2	This Driver (frozenreboot)
Hot-plug Recovery	❌ Crash / Hang	✅ Auto-reconnect via FSM
Permission Denied	❌ Silent Fail / Garbage Data	✅ Explicit Diagnostics
Dynamic Reconfigure	❌ Restart Required	✅ Runtime RPM/Mode Update
Zero-Copy Optimization	❌ N/A	✅ Smart Pointer & Move Semantics
Architecture	❌ Tight SDK Coupling	✅ Interface-based Abstraction

🧪 Call for Experiments: “Does it survive?”

I need your help to validate this driver on various robots! If you use this driver, please stress-test it (e.g., unplug USB while scanning, change RPM dynamically) and share your results.

📢 How to Submit a Report

Please open an issue with the title [Experiment] Your_Robot_Name and include:

Lidar Model: (e.g., A1, A2, S1…)
Recovery Log: (Copy paste the terminal output when you unplug/replug)
Screenshot: rqt_graph or rviz2

👉 Submit your Experiment Report Here

🚀 Getting Started

1. Installation

cd ~/ros2_ws/src
git clone https://github.com/frozenreboot/rplidar_driver.git
cd ..

# Install dependencies
sudo apt update
rosdep update
rosdep install --from-paths src --ignore-src -r -y

# Build the workspace
colcon build --symlink-install

2. Quick Launch

ros2 launch rplidar_driver rplidar.launch.py serial_port:=/dev/ttyUSB0

3. Dynamic Reconfigure (Runtime)

You can change the motor speed without killing the node:


ros2 param set /rplidar_node rpm 1000
ros2 param set /rplidar_node scan_mode DenseBoost

🏗️ Architecture

This driver uses a 3-Layer Design to decouple ROS 2 logic from the vendor SDK.

Node Layer: Handles Lifecycle & Parameters.
Wrapper Layer: Handles Threading & Mutex.
SDK Layer: Raw data fetching.

Architecture Diagram

👤 Author & Maintainer

frozenreboot - Initial Refactoring & Architecture Design

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.

rplidar_driver repository

rplidar_driver

ROS Distro
jazzy

Repository Summary

Checkout URI	https://github.com/frozenreboot/rplidar_driver.git
VCS Type	git
VCS Version	main
Last Updated	2026-06-23
Dev Status	MAINTAINED
Released	UNRELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Packages

Name	Version
rplidar_driver	1.3.1

README

🛡️ Robust RPLIDAR ROS 2 Driver (Industrial-Grade)

[!CAUTION] BETA VERSION Please use with caution in production environments. Issues and PRs are highly welcome!

“Because the official driver shouldn’t crash just because you pulled the plug.”

This is a heavily refactored, fault-tolerant ROS 2 driver for Slamtec RPLIDAR. Designed with a Lifecycle State Machine and Thread-Safe Architecture, ensuring your robot keeps running even under hardware disconnection or permission failures.

⚡ Why Use This? (Table of Shame)

Feature	Official Slamtec ROS 2	This Driver (frozenreboot)
Hot-plug Recovery	❌ Crash / Hang	✅ Auto-reconnect via FSM
Permission Denied	❌ Silent Fail / Garbage Data	✅ Explicit Diagnostics
Dynamic Reconfigure	❌ Restart Required	✅ Runtime RPM/Mode Update
Zero-Copy Optimization	❌ N/A	✅ Smart Pointer & Move Semantics
Architecture	❌ Tight SDK Coupling	✅ Interface-based Abstraction

🧪 Call for Experiments: “Does it survive?”

I need your help to validate this driver on various robots! If you use this driver, please stress-test it (e.g., unplug USB while scanning, change RPM dynamically) and share your results.

📢 How to Submit a Report

Please open an issue with the title [Experiment] Your_Robot_Name and include:

Lidar Model: (e.g., A1, A2, S1…)
Recovery Log: (Copy paste the terminal output when you unplug/replug)
Screenshot: rqt_graph or rviz2

👉 Submit your Experiment Report Here

🚀 Getting Started

1. Installation

cd ~/ros2_ws/src
git clone https://github.com/frozenreboot/rplidar_driver.git
cd ..

# Install dependencies
sudo apt update
rosdep update
rosdep install --from-paths src --ignore-src -r -y

# Build the workspace
colcon build --symlink-install

2. Quick Launch

ros2 launch rplidar_driver rplidar.launch.py serial_port:=/dev/ttyUSB0

3. Dynamic Reconfigure (Runtime)

You can change the motor speed without killing the node:


ros2 param set /rplidar_node rpm 1000
ros2 param set /rplidar_node scan_mode DenseBoost

🏗️ Architecture

This driver uses a 3-Layer Design to decouple ROS 2 logic from the vendor SDK.

Node Layer: Handles Lifecycle & Parameters.
Wrapper Layer: Handles Threading & Mutex.
SDK Layer: Raw data fetching.

Architecture Diagram

👤 Author & Maintainer

frozenreboot - Initial Refactoring & Architecture Design

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.

rplidar_driver repository

rplidar_driver

ROS Distro
jazzy

Repository Summary

Checkout URI	https://github.com/frozenreboot/rplidar_driver.git
VCS Type	git
VCS Version	main
Last Updated	2026-06-23
Dev Status	MAINTAINED
Released	UNRELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Packages

Name	Version
rplidar_driver	1.3.1

README

🛡️ Robust RPLIDAR ROS 2 Driver (Industrial-Grade)

[!CAUTION] BETA VERSION Please use with caution in production environments. Issues and PRs are highly welcome!

“Because the official driver shouldn’t crash just because you pulled the plug.”

This is a heavily refactored, fault-tolerant ROS 2 driver for Slamtec RPLIDAR. Designed with a Lifecycle State Machine and Thread-Safe Architecture, ensuring your robot keeps running even under hardware disconnection or permission failures.

⚡ Why Use This? (Table of Shame)

Feature	Official Slamtec ROS 2	This Driver (frozenreboot)
Hot-plug Recovery	❌ Crash / Hang	✅ Auto-reconnect via FSM
Permission Denied	❌ Silent Fail / Garbage Data	✅ Explicit Diagnostics
Dynamic Reconfigure	❌ Restart Required	✅ Runtime RPM/Mode Update
Zero-Copy Optimization	❌ N/A	✅ Smart Pointer & Move Semantics
Architecture	❌ Tight SDK Coupling	✅ Interface-based Abstraction

🧪 Call for Experiments: “Does it survive?”

I need your help to validate this driver on various robots! If you use this driver, please stress-test it (e.g., unplug USB while scanning, change RPM dynamically) and share your results.

📢 How to Submit a Report

Please open an issue with the title [Experiment] Your_Robot_Name and include:

Lidar Model: (e.g., A1, A2, S1…)
Recovery Log: (Copy paste the terminal output when you unplug/replug)
Screenshot: rqt_graph or rviz2

👉 Submit your Experiment Report Here

🚀 Getting Started

1. Installation

cd ~/ros2_ws/src
git clone https://github.com/frozenreboot/rplidar_driver.git
cd ..

# Install dependencies
sudo apt update
rosdep update
rosdep install --from-paths src --ignore-src -r -y

# Build the workspace
colcon build --symlink-install

2. Quick Launch

ros2 launch rplidar_driver rplidar.launch.py serial_port:=/dev/ttyUSB0

3. Dynamic Reconfigure (Runtime)

You can change the motor speed without killing the node:


ros2 param set /rplidar_node rpm 1000
ros2 param set /rplidar_node scan_mode DenseBoost

🏗️ Architecture

This driver uses a 3-Layer Design to decouple ROS 2 logic from the vendor SDK.

Node Layer: Handles Lifecycle & Parameters.
Wrapper Layer: Handles Threading & Mutex.
SDK Layer: Raw data fetching.

Architecture Diagram

👤 Author & Maintainer

frozenreboot - Initial Refactoring & Architecture Design

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.

rplidar_driver repository

rplidar_driver

ROS Distro
jazzy

Repository Summary

Checkout URI	https://github.com/frozenreboot/rplidar_driver.git
VCS Type	git
VCS Version	main
Last Updated	2026-06-23
Dev Status	MAINTAINED
Released	UNRELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Packages

Name	Version
rplidar_driver	1.3.1

README

🛡️ Robust RPLIDAR ROS 2 Driver (Industrial-Grade)

[!CAUTION] BETA VERSION Please use with caution in production environments. Issues and PRs are highly welcome!

“Because the official driver shouldn’t crash just because you pulled the plug.”

This is a heavily refactored, fault-tolerant ROS 2 driver for Slamtec RPLIDAR. Designed with a Lifecycle State Machine and Thread-Safe Architecture, ensuring your robot keeps running even under hardware disconnection or permission failures.

⚡ Why Use This? (Table of Shame)

Feature	Official Slamtec ROS 2	This Driver (frozenreboot)
Hot-plug Recovery	❌ Crash / Hang	✅ Auto-reconnect via FSM
Permission Denied	❌ Silent Fail / Garbage Data	✅ Explicit Diagnostics
Dynamic Reconfigure	❌ Restart Required	✅ Runtime RPM/Mode Update
Zero-Copy Optimization	❌ N/A	✅ Smart Pointer & Move Semantics
Architecture	❌ Tight SDK Coupling	✅ Interface-based Abstraction

🧪 Call for Experiments: “Does it survive?”

I need your help to validate this driver on various robots! If you use this driver, please stress-test it (e.g., unplug USB while scanning, change RPM dynamically) and share your results.

📢 How to Submit a Report

Please open an issue with the title [Experiment] Your_Robot_Name and include:

Lidar Model: (e.g., A1, A2, S1…)
Recovery Log: (Copy paste the terminal output when you unplug/replug)
Screenshot: rqt_graph or rviz2

👉 Submit your Experiment Report Here

🚀 Getting Started

1. Installation

cd ~/ros2_ws/src
git clone https://github.com/frozenreboot/rplidar_driver.git
cd ..

# Install dependencies
sudo apt update
rosdep update
rosdep install --from-paths src --ignore-src -r -y

# Build the workspace
colcon build --symlink-install

2. Quick Launch

ros2 launch rplidar_driver rplidar.launch.py serial_port:=/dev/ttyUSB0

3. Dynamic Reconfigure (Runtime)

You can change the motor speed without killing the node:


ros2 param set /rplidar_node rpm 1000
ros2 param set /rplidar_node scan_mode DenseBoost

🏗️ Architecture

This driver uses a 3-Layer Design to decouple ROS 2 logic from the vendor SDK.

Node Layer: Handles Lifecycle & Parameters.
Wrapper Layer: Handles Threading & Mutex.
SDK Layer: Raw data fetching.

Architecture Diagram

👤 Author & Maintainer

frozenreboot - Initial Refactoring & Architecture Design

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.

rplidar_driver repository

rplidar_driver

ROS Distro
jazzy

Repository Summary

Checkout URI	https://github.com/frozenreboot/rplidar_driver.git
VCS Type	git
VCS Version	main
Last Updated	2026-06-23
Dev Status	MAINTAINED
Released	UNRELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Packages

Name	Version
rplidar_driver	1.3.1

README

🛡️ Robust RPLIDAR ROS 2 Driver (Industrial-Grade)

[!CAUTION] BETA VERSION Please use with caution in production environments. Issues and PRs are highly welcome!

“Because the official driver shouldn’t crash just because you pulled the plug.”

This is a heavily refactored, fault-tolerant ROS 2 driver for Slamtec RPLIDAR. Designed with a Lifecycle State Machine and Thread-Safe Architecture, ensuring your robot keeps running even under hardware disconnection or permission failures.

⚡ Why Use This? (Table of Shame)

Feature	Official Slamtec ROS 2	This Driver (frozenreboot)
Hot-plug Recovery	❌ Crash / Hang	✅ Auto-reconnect via FSM
Permission Denied	❌ Silent Fail / Garbage Data	✅ Explicit Diagnostics
Dynamic Reconfigure	❌ Restart Required	✅ Runtime RPM/Mode Update
Zero-Copy Optimization	❌ N/A	✅ Smart Pointer & Move Semantics
Architecture	❌ Tight SDK Coupling	✅ Interface-based Abstraction

🧪 Call for Experiments: “Does it survive?”

I need your help to validate this driver on various robots! If you use this driver, please stress-test it (e.g., unplug USB while scanning, change RPM dynamically) and share your results.

📢 How to Submit a Report

Please open an issue with the title [Experiment] Your_Robot_Name and include:

Lidar Model: (e.g., A1, A2, S1…)
Recovery Log: (Copy paste the terminal output when you unplug/replug)
Screenshot: rqt_graph or rviz2

👉 Submit your Experiment Report Here

🚀 Getting Started

1. Installation

cd ~/ros2_ws/src
git clone https://github.com/frozenreboot/rplidar_driver.git
cd ..

# Install dependencies
sudo apt update
rosdep update
rosdep install --from-paths src --ignore-src -r -y

# Build the workspace
colcon build --symlink-install

2. Quick Launch

ros2 launch rplidar_driver rplidar.launch.py serial_port:=/dev/ttyUSB0

3. Dynamic Reconfigure (Runtime)

You can change the motor speed without killing the node:


ros2 param set /rplidar_node rpm 1000
ros2 param set /rplidar_node scan_mode DenseBoost

🏗️ Architecture

This driver uses a 3-Layer Design to decouple ROS 2 logic from the vendor SDK.

Node Layer: Handles Lifecycle & Parameters.
Wrapper Layer: Handles Threading & Mutex.
SDK Layer: Raw data fetching.

Architecture Diagram

👤 Author & Maintainer

frozenreboot - Initial Refactoring & Architecture Design

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.

rplidar_driver repository

rplidar_driver

ROS Distro
jazzy

Repository Summary

Checkout URI	https://github.com/frozenreboot/rplidar_driver.git
VCS Type	git
VCS Version	main
Last Updated	2026-06-23
Dev Status	MAINTAINED
Released	UNRELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Packages

Name	Version
rplidar_driver	1.3.1

README

🛡️ Robust RPLIDAR ROS 2 Driver (Industrial-Grade)

[!CAUTION] BETA VERSION Please use with caution in production environments. Issues and PRs are highly welcome!

“Because the official driver shouldn’t crash just because you pulled the plug.”

This is a heavily refactored, fault-tolerant ROS 2 driver for Slamtec RPLIDAR. Designed with a Lifecycle State Machine and Thread-Safe Architecture, ensuring your robot keeps running even under hardware disconnection or permission failures.

⚡ Why Use This? (Table of Shame)

Feature	Official Slamtec ROS 2	This Driver (frozenreboot)
Hot-plug Recovery	❌ Crash / Hang	✅ Auto-reconnect via FSM
Permission Denied	❌ Silent Fail / Garbage Data	✅ Explicit Diagnostics
Dynamic Reconfigure	❌ Restart Required	✅ Runtime RPM/Mode Update
Zero-Copy Optimization	❌ N/A	✅ Smart Pointer & Move Semantics
Architecture	❌ Tight SDK Coupling	✅ Interface-based Abstraction

🧪 Call for Experiments: “Does it survive?”

I need your help to validate this driver on various robots! If you use this driver, please stress-test it (e.g., unplug USB while scanning, change RPM dynamically) and share your results.

📢 How to Submit a Report

Please open an issue with the title [Experiment] Your_Robot_Name and include:

Lidar Model: (e.g., A1, A2, S1…)
Recovery Log: (Copy paste the terminal output when you unplug/replug)
Screenshot: rqt_graph or rviz2

👉 Submit your Experiment Report Here

🚀 Getting Started

1. Installation

cd ~/ros2_ws/src
git clone https://github.com/frozenreboot/rplidar_driver.git
cd ..

# Install dependencies
sudo apt update
rosdep update
rosdep install --from-paths src --ignore-src -r -y

# Build the workspace
colcon build --symlink-install

2. Quick Launch

ros2 launch rplidar_driver rplidar.launch.py serial_port:=/dev/ttyUSB0

3. Dynamic Reconfigure (Runtime)

You can change the motor speed without killing the node:


ros2 param set /rplidar_node rpm 1000
ros2 param set /rplidar_node scan_mode DenseBoost

🏗️ Architecture

This driver uses a 3-Layer Design to decouple ROS 2 logic from the vendor SDK.

Node Layer: Handles Lifecycle & Parameters.
Wrapper Layer: Handles Threading & Mutex.
SDK Layer: Raw data fetching.

Architecture Diagram

👤 Author & Maintainer

frozenreboot - Initial Refactoring & Architecture Design

File truncated at 100 lines see the full file

rplidar_driver repository

ROS Distrojazzy

Repository Summary

Packages

README

🛡️ Robust RPLIDAR ROS 2 Driver (Industrial-Grade)

⚡ Why Use This? (Table of Shame)

🧪 Call for Experiments: “Does it survive?”

📢 How to Submit a Report

🚀 Getting Started

1. Installation

2. Quick Launch

3. Dynamic Reconfigure (Runtime)

🏗️ Architecture

👤 Author & Maintainer

CONTRIBUTING

rplidar_driver repository

ROS Distrojazzy

Repository Summary

Packages

README

🛡️ Robust RPLIDAR ROS 2 Driver (Industrial-Grade)

⚡ Why Use This? (Table of Shame)

🧪 Call for Experiments: “Does it survive?”

📢 How to Submit a Report

🚀 Getting Started

1. Installation

2. Quick Launch

3. Dynamic Reconfigure (Runtime)

🏗️ Architecture

👤 Author & Maintainer

CONTRIBUTING

rplidar_driver repository

ROS Distrojazzy

Repository Summary

Packages

README

🛡️ Robust RPLIDAR ROS 2 Driver (Industrial-Grade)

⚡ Why Use This? (Table of Shame)

🧪 Call for Experiments: “Does it survive?”

📢 How to Submit a Report

🚀 Getting Started

1. Installation

2. Quick Launch

3. Dynamic Reconfigure (Runtime)

🏗️ Architecture

👤 Author & Maintainer

CONTRIBUTING

rplidar_driver repository

ROS Distrojazzy

Repository Summary

Packages

README

🛡️ Robust RPLIDAR ROS 2 Driver (Industrial-Grade)

⚡ Why Use This? (Table of Shame)

🧪 Call for Experiments: “Does it survive?”

📢 How to Submit a Report

🚀 Getting Started

1. Installation

2. Quick Launch

3. Dynamic Reconfigure (Runtime)

🏗️ Architecture

👤 Author & Maintainer

CONTRIBUTING

rplidar_driver repository

ROS Distrojazzy

Repository Summary

Packages

README

🛡️ Robust RPLIDAR ROS 2 Driver (Industrial-Grade)

⚡ Why Use This? (Table of Shame)

🧪 Call for Experiments: “Does it survive?”

📢 How to Submit a Report

🚀 Getting Started

1. Installation

2. Quick Launch

3. Dynamic Reconfigure (Runtime)

🏗️ Architecture

👤 Author & Maintainer

CONTRIBUTING

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jazzy

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