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rplidar_driver repository

rplidar_driver

ROS Distro
humble

Repository Summary

Checkout URI https://github.com/frozenreboot/rplidar_driver.git
VCS Type git
VCS Version main
Last Updated 2026-07-18
Dev Status MAINTAINED
Released RELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Packages

Name Version
rplidar_driver 1.4.1

README

🛡️ Robust RPLIDAR ROS 2 Driver

ROS 2 Humble ROS 2 Jazzy ROS 2 Lyrical ROS 2 Rolling C++17 License ROS 2 CI

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

A fault-tolerant ROS 2 driver for Slamtec RPLIDAR, built around a Lifecycle State Machine and a thread-safe architecture. Your robot keeps running even under hardware disconnection or permission failures.

⚡ Why Use This?

Most existing RPLIDAR drivers assume the hardware never misbehaves. This driver assumes the opposite. Compared to the reference implementation:

Capability Reference Driver This Driver
Hot-plug recovery Not handled ✅ Auto-reconnect via lifecycle FSM
Permission failure reporting Silent failure ✅ Explicit diagnostics
Runtime reconfiguration Restart required ✅ Live RPM / scan-mode update
Component composition Standalone only ✅ rclcpp_components support
SDK coupling Direct calls throughout ✅ Interface-based abstraction layer

🚀 Getting Started

Option A — Binary install (coming soon)

This package has been submitted to the ROS 2 build farm. Once it syncs, you will be able to install it directly:

sudo apt install ros-${ROS_DISTRO}-rplidar-driver

Supported distros: Humble, Jazzy, Lyrical, and Rolling.

Option B — Build from source

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

Quick Launch

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

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

🧪 Call for Experiments: “Does it survive?”

We 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:

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

👉 Submit your Experiment Report Here

🏗️ Architecture

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

  • Node Layer: Handles Lifecycle & Parameters.

File truncated at 100 lines see the full file

CONTRIBUTING

Repo symbol

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 2026-07-18
Dev Status MAINTAINED
Released RELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Packages

Name Version
rplidar_driver 1.4.1

README

🛡️ Robust RPLIDAR ROS 2 Driver

ROS 2 Humble ROS 2 Jazzy ROS 2 Lyrical ROS 2 Rolling C++17 License ROS 2 CI

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

A fault-tolerant ROS 2 driver for Slamtec RPLIDAR, built around a Lifecycle State Machine and a thread-safe architecture. Your robot keeps running even under hardware disconnection or permission failures.

⚡ Why Use This?

Most existing RPLIDAR drivers assume the hardware never misbehaves. This driver assumes the opposite. Compared to the reference implementation:

Capability Reference Driver This Driver
Hot-plug recovery Not handled ✅ Auto-reconnect via lifecycle FSM
Permission failure reporting Silent failure ✅ Explicit diagnostics
Runtime reconfiguration Restart required ✅ Live RPM / scan-mode update
Component composition Standalone only ✅ rclcpp_components support
SDK coupling Direct calls throughout ✅ Interface-based abstraction layer

🚀 Getting Started

Option A — Binary install (coming soon)

This package has been submitted to the ROS 2 build farm. Once it syncs, you will be able to install it directly:

sudo apt install ros-${ROS_DISTRO}-rplidar-driver

Supported distros: Humble, Jazzy, Lyrical, and Rolling.

Option B — Build from source

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

Quick Launch

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

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

🧪 Call for Experiments: “Does it survive?”

We 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:

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

👉 Submit your Experiment Report Here

🏗️ Architecture

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

  • Node Layer: Handles Lifecycle & Parameters.

File truncated at 100 lines see the full file

CONTRIBUTING

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

rplidar_driver repository

rplidar_driver

ROS Distro
humble

Repository Summary

Checkout URI https://github.com/frozenreboot/rplidar_driver.git
VCS Type git
VCS Version main
Last Updated 2026-07-18
Dev Status MAINTAINED
Released RELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Packages

Name Version
rplidar_driver 1.4.1

README

🛡️ Robust RPLIDAR ROS 2 Driver

ROS 2 Humble ROS 2 Jazzy ROS 2 Lyrical ROS 2 Rolling C++17 License ROS 2 CI

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

A fault-tolerant ROS 2 driver for Slamtec RPLIDAR, built around a Lifecycle State Machine and a thread-safe architecture. Your robot keeps running even under hardware disconnection or permission failures.

⚡ Why Use This?

Most existing RPLIDAR drivers assume the hardware never misbehaves. This driver assumes the opposite. Compared to the reference implementation:

Capability Reference Driver This Driver
Hot-plug recovery Not handled ✅ Auto-reconnect via lifecycle FSM
Permission failure reporting Silent failure ✅ Explicit diagnostics
Runtime reconfiguration Restart required ✅ Live RPM / scan-mode update
Component composition Standalone only ✅ rclcpp_components support
SDK coupling Direct calls throughout ✅ Interface-based abstraction layer

🚀 Getting Started

Option A — Binary install (coming soon)

This package has been submitted to the ROS 2 build farm. Once it syncs, you will be able to install it directly:

sudo apt install ros-${ROS_DISTRO}-rplidar-driver

Supported distros: Humble, Jazzy, Lyrical, and Rolling.

Option B — Build from source

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

Quick Launch

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

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

🧪 Call for Experiments: “Does it survive?”

We 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:

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

👉 Submit your Experiment Report Here

🏗️ Architecture

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

  • Node Layer: Handles Lifecycle & Parameters.

File truncated at 100 lines see the full file

CONTRIBUTING

Repo symbol

rplidar_driver repository

rplidar_driver

ROS Distro
lyrical

Repository Summary

Checkout URI https://github.com/frozenreboot/rplidar_driver.git
VCS Type git
VCS Version main
Last Updated 2026-07-18
Dev Status MAINTAINED
Released RELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Packages

Name Version
rplidar_driver 1.4.1

README

🛡️ Robust RPLIDAR ROS 2 Driver

ROS 2 Humble ROS 2 Jazzy ROS 2 Lyrical ROS 2 Rolling C++17 License ROS 2 CI

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

A fault-tolerant ROS 2 driver for Slamtec RPLIDAR, built around a Lifecycle State Machine and a thread-safe architecture. Your robot keeps running even under hardware disconnection or permission failures.

⚡ Why Use This?

Most existing RPLIDAR drivers assume the hardware never misbehaves. This driver assumes the opposite. Compared to the reference implementation:

Capability Reference Driver This Driver
Hot-plug recovery Not handled ✅ Auto-reconnect via lifecycle FSM
Permission failure reporting Silent failure ✅ Explicit diagnostics
Runtime reconfiguration Restart required ✅ Live RPM / scan-mode update
Component composition Standalone only ✅ rclcpp_components support
SDK coupling Direct calls throughout ✅ Interface-based abstraction layer

🚀 Getting Started

Option A — Binary install (coming soon)

This package has been submitted to the ROS 2 build farm. Once it syncs, you will be able to install it directly:

sudo apt install ros-${ROS_DISTRO}-rplidar-driver

Supported distros: Humble, Jazzy, Lyrical, and Rolling.

Option B — Build from source

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

Quick Launch

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

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

🧪 Call for Experiments: “Does it survive?”

We 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:

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

👉 Submit your Experiment Report Here

🏗️ Architecture

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

  • Node Layer: Handles Lifecycle & Parameters.

File truncated at 100 lines see the full file

CONTRIBUTING

Repo symbol

rplidar_driver repository

rplidar_driver

ROS Distro
rolling

Repository Summary

Checkout URI https://github.com/frozenreboot/rplidar_driver.git
VCS Type git
VCS Version main
Last Updated 2026-07-18
Dev Status MAINTAINED
Released RELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Packages

Name Version
rplidar_driver 1.4.1

README

🛡️ Robust RPLIDAR ROS 2 Driver

ROS 2 Humble ROS 2 Jazzy ROS 2 Lyrical ROS 2 Rolling C++17 License ROS 2 CI

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

A fault-tolerant ROS 2 driver for Slamtec RPLIDAR, built around a Lifecycle State Machine and a thread-safe architecture. Your robot keeps running even under hardware disconnection or permission failures.

⚡ Why Use This?

Most existing RPLIDAR drivers assume the hardware never misbehaves. This driver assumes the opposite. Compared to the reference implementation:

Capability Reference Driver This Driver
Hot-plug recovery Not handled ✅ Auto-reconnect via lifecycle FSM
Permission failure reporting Silent failure ✅ Explicit diagnostics
Runtime reconfiguration Restart required ✅ Live RPM / scan-mode update
Component composition Standalone only ✅ rclcpp_components support
SDK coupling Direct calls throughout ✅ Interface-based abstraction layer

🚀 Getting Started

Option A — Binary install (coming soon)

This package has been submitted to the ROS 2 build farm. Once it syncs, you will be able to install it directly:

sudo apt install ros-${ROS_DISTRO}-rplidar-driver

Supported distros: Humble, Jazzy, Lyrical, and Rolling.

Option B — Build from source

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

Quick Launch

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

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

🧪 Call for Experiments: “Does it survive?”

We 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:

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

👉 Submit your Experiment Report Here

🏗️ Architecture

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

  • Node Layer: Handles Lifecycle & Parameters.

File truncated at 100 lines see the full file

CONTRIBUTING

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

rplidar_driver repository

rplidar_driver

ROS Distro
humble

Repository Summary

Checkout URI https://github.com/frozenreboot/rplidar_driver.git
VCS Type git
VCS Version main
Last Updated 2026-07-18
Dev Status MAINTAINED
Released RELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Packages

Name Version
rplidar_driver 1.4.1

README

🛡️ Robust RPLIDAR ROS 2 Driver

ROS 2 Humble ROS 2 Jazzy ROS 2 Lyrical ROS 2 Rolling C++17 License ROS 2 CI

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

A fault-tolerant ROS 2 driver for Slamtec RPLIDAR, built around a Lifecycle State Machine and a thread-safe architecture. Your robot keeps running even under hardware disconnection or permission failures.

⚡ Why Use This?

Most existing RPLIDAR drivers assume the hardware never misbehaves. This driver assumes the opposite. Compared to the reference implementation:

Capability Reference Driver This Driver
Hot-plug recovery Not handled ✅ Auto-reconnect via lifecycle FSM
Permission failure reporting Silent failure ✅ Explicit diagnostics
Runtime reconfiguration Restart required ✅ Live RPM / scan-mode update
Component composition Standalone only ✅ rclcpp_components support
SDK coupling Direct calls throughout ✅ Interface-based abstraction layer

🚀 Getting Started

Option A — Binary install (coming soon)

This package has been submitted to the ROS 2 build farm. Once it syncs, you will be able to install it directly:

sudo apt install ros-${ROS_DISTRO}-rplidar-driver

Supported distros: Humble, Jazzy, Lyrical, and Rolling.

Option B — Build from source

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

Quick Launch

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

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

🧪 Call for Experiments: “Does it survive?”

We 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:

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

👉 Submit your Experiment Report Here

🏗️ Architecture

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

  • Node Layer: Handles Lifecycle & Parameters.

File truncated at 100 lines see the full file

CONTRIBUTING

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

rplidar_driver repository

rplidar_driver

ROS Distro
humble

Repository Summary

Checkout URI https://github.com/frozenreboot/rplidar_driver.git
VCS Type git
VCS Version main
Last Updated 2026-07-18
Dev Status MAINTAINED
Released RELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Packages

Name Version
rplidar_driver 1.4.1

README

🛡️ Robust RPLIDAR ROS 2 Driver

ROS 2 Humble ROS 2 Jazzy ROS 2 Lyrical ROS 2 Rolling C++17 License ROS 2 CI

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

A fault-tolerant ROS 2 driver for Slamtec RPLIDAR, built around a Lifecycle State Machine and a thread-safe architecture. Your robot keeps running even under hardware disconnection or permission failures.

⚡ Why Use This?

Most existing RPLIDAR drivers assume the hardware never misbehaves. This driver assumes the opposite. Compared to the reference implementation:

Capability Reference Driver This Driver
Hot-plug recovery Not handled ✅ Auto-reconnect via lifecycle FSM
Permission failure reporting Silent failure ✅ Explicit diagnostics
Runtime reconfiguration Restart required ✅ Live RPM / scan-mode update
Component composition Standalone only ✅ rclcpp_components support
SDK coupling Direct calls throughout ✅ Interface-based abstraction layer

🚀 Getting Started

Option A — Binary install (coming soon)

This package has been submitted to the ROS 2 build farm. Once it syncs, you will be able to install it directly:

sudo apt install ros-${ROS_DISTRO}-rplidar-driver

Supported distros: Humble, Jazzy, Lyrical, and Rolling.

Option B — Build from source

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

Quick Launch

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

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

🧪 Call for Experiments: “Does it survive?”

We 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:

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

👉 Submit your Experiment Report Here

🏗️ Architecture

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

  • Node Layer: Handles Lifecycle & Parameters.

File truncated at 100 lines see the full file

CONTRIBUTING

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

rplidar_driver repository

rplidar_driver

ROS Distro
humble

Repository Summary

Checkout URI https://github.com/frozenreboot/rplidar_driver.git
VCS Type git
VCS Version main
Last Updated 2026-07-18
Dev Status MAINTAINED
Released RELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Packages

Name Version
rplidar_driver 1.4.1

README

🛡️ Robust RPLIDAR ROS 2 Driver

ROS 2 Humble ROS 2 Jazzy ROS 2 Lyrical ROS 2 Rolling C++17 License ROS 2 CI

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

A fault-tolerant ROS 2 driver for Slamtec RPLIDAR, built around a Lifecycle State Machine and a thread-safe architecture. Your robot keeps running even under hardware disconnection or permission failures.

⚡ Why Use This?

Most existing RPLIDAR drivers assume the hardware never misbehaves. This driver assumes the opposite. Compared to the reference implementation:

Capability Reference Driver This Driver
Hot-plug recovery Not handled ✅ Auto-reconnect via lifecycle FSM
Permission failure reporting Silent failure ✅ Explicit diagnostics
Runtime reconfiguration Restart required ✅ Live RPM / scan-mode update
Component composition Standalone only ✅ rclcpp_components support
SDK coupling Direct calls throughout ✅ Interface-based abstraction layer

🚀 Getting Started

Option A — Binary install (coming soon)

This package has been submitted to the ROS 2 build farm. Once it syncs, you will be able to install it directly:

sudo apt install ros-${ROS_DISTRO}-rplidar-driver

Supported distros: Humble, Jazzy, Lyrical, and Rolling.

Option B — Build from source

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

Quick Launch

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

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

🧪 Call for Experiments: “Does it survive?”

We 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:

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

👉 Submit your Experiment Report Here

🏗️ Architecture

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

  • Node Layer: Handles Lifecycle & Parameters.

File truncated at 100 lines see the full file

CONTRIBUTING

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

rplidar_driver repository

rplidar_driver

ROS Distro
humble

Repository Summary

Checkout URI https://github.com/frozenreboot/rplidar_driver.git
VCS Type git
VCS Version main
Last Updated 2026-07-18
Dev Status MAINTAINED
Released RELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Packages

Name Version
rplidar_driver 1.4.1

README

🛡️ Robust RPLIDAR ROS 2 Driver

ROS 2 Humble ROS 2 Jazzy ROS 2 Lyrical ROS 2 Rolling C++17 License ROS 2 CI

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

A fault-tolerant ROS 2 driver for Slamtec RPLIDAR, built around a Lifecycle State Machine and a thread-safe architecture. Your robot keeps running even under hardware disconnection or permission failures.

⚡ Why Use This?

Most existing RPLIDAR drivers assume the hardware never misbehaves. This driver assumes the opposite. Compared to the reference implementation:

Capability Reference Driver This Driver
Hot-plug recovery Not handled ✅ Auto-reconnect via lifecycle FSM
Permission failure reporting Silent failure ✅ Explicit diagnostics
Runtime reconfiguration Restart required ✅ Live RPM / scan-mode update
Component composition Standalone only ✅ rclcpp_components support
SDK coupling Direct calls throughout ✅ Interface-based abstraction layer

🚀 Getting Started

Option A — Binary install (coming soon)

This package has been submitted to the ROS 2 build farm. Once it syncs, you will be able to install it directly:

sudo apt install ros-${ROS_DISTRO}-rplidar-driver

Supported distros: Humble, Jazzy, Lyrical, and Rolling.

Option B — Build from source

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

Quick Launch

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

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

🧪 Call for Experiments: “Does it survive?”

We 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:

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

👉 Submit your Experiment Report Here

🏗️ Architecture

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

  • Node Layer: Handles Lifecycle & Parameters.

File truncated at 100 lines see the full file

CONTRIBUTING

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

rplidar_driver repository

rplidar_driver

ROS Distro
humble

Repository Summary

Checkout URI https://github.com/frozenreboot/rplidar_driver.git
VCS Type git
VCS Version main
Last Updated 2026-07-18
Dev Status MAINTAINED
Released RELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Packages

Name Version
rplidar_driver 1.4.1

README

🛡️ Robust RPLIDAR ROS 2 Driver

ROS 2 Humble ROS 2 Jazzy ROS 2 Lyrical ROS 2 Rolling C++17 License ROS 2 CI

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

A fault-tolerant ROS 2 driver for Slamtec RPLIDAR, built around a Lifecycle State Machine and a thread-safe architecture. Your robot keeps running even under hardware disconnection or permission failures.

⚡ Why Use This?

Most existing RPLIDAR drivers assume the hardware never misbehaves. This driver assumes the opposite. Compared to the reference implementation:

Capability Reference Driver This Driver
Hot-plug recovery Not handled ✅ Auto-reconnect via lifecycle FSM
Permission failure reporting Silent failure ✅ Explicit diagnostics
Runtime reconfiguration Restart required ✅ Live RPM / scan-mode update
Component composition Standalone only ✅ rclcpp_components support
SDK coupling Direct calls throughout ✅ Interface-based abstraction layer

🚀 Getting Started

Option A — Binary install (coming soon)

This package has been submitted to the ROS 2 build farm. Once it syncs, you will be able to install it directly:

sudo apt install ros-${ROS_DISTRO}-rplidar-driver

Supported distros: Humble, Jazzy, Lyrical, and Rolling.

Option B — Build from source

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

Quick Launch

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

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

🧪 Call for Experiments: “Does it survive?”

We 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:

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

👉 Submit your Experiment Report Here

🏗️ Architecture

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

  • Node Layer: Handles Lifecycle & Parameters.

File truncated at 100 lines see the full file

CONTRIBUTING

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

rplidar_driver repository

rplidar_driver

ROS Distro
humble

Repository Summary

Checkout URI https://github.com/frozenreboot/rplidar_driver.git
VCS Type git
VCS Version main
Last Updated 2026-07-18
Dev Status MAINTAINED
Released RELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Packages

Name Version
rplidar_driver 1.4.1

README

🛡️ Robust RPLIDAR ROS 2 Driver

ROS 2 Humble ROS 2 Jazzy ROS 2 Lyrical ROS 2 Rolling C++17 License ROS 2 CI

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

A fault-tolerant ROS 2 driver for Slamtec RPLIDAR, built around a Lifecycle State Machine and a thread-safe architecture. Your robot keeps running even under hardware disconnection or permission failures.

⚡ Why Use This?

Most existing RPLIDAR drivers assume the hardware never misbehaves. This driver assumes the opposite. Compared to the reference implementation:

Capability Reference Driver This Driver
Hot-plug recovery Not handled ✅ Auto-reconnect via lifecycle FSM
Permission failure reporting Silent failure ✅ Explicit diagnostics
Runtime reconfiguration Restart required ✅ Live RPM / scan-mode update
Component composition Standalone only ✅ rclcpp_components support
SDK coupling Direct calls throughout ✅ Interface-based abstraction layer

🚀 Getting Started

Option A — Binary install (coming soon)

This package has been submitted to the ROS 2 build farm. Once it syncs, you will be able to install it directly:

sudo apt install ros-${ROS_DISTRO}-rplidar-driver

Supported distros: Humble, Jazzy, Lyrical, and Rolling.

Option B — Build from source

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

Quick Launch

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

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

🧪 Call for Experiments: “Does it survive?”

We 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:

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

👉 Submit your Experiment Report Here

🏗️ Architecture

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

  • Node Layer: Handles Lifecycle & Parameters.

File truncated at 100 lines see the full file

CONTRIBUTING

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

rplidar_driver repository

rplidar_driver

ROS Distro
humble

Repository Summary

Checkout URI https://github.com/frozenreboot/rplidar_driver.git
VCS Type git
VCS Version main
Last Updated 2026-07-18
Dev Status MAINTAINED
Released RELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Packages

Name Version
rplidar_driver 1.4.1

README

🛡️ Robust RPLIDAR ROS 2 Driver

ROS 2 Humble ROS 2 Jazzy ROS 2 Lyrical ROS 2 Rolling C++17 License ROS 2 CI

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

A fault-tolerant ROS 2 driver for Slamtec RPLIDAR, built around a Lifecycle State Machine and a thread-safe architecture. Your robot keeps running even under hardware disconnection or permission failures.

⚡ Why Use This?

Most existing RPLIDAR drivers assume the hardware never misbehaves. This driver assumes the opposite. Compared to the reference implementation:

Capability Reference Driver This Driver
Hot-plug recovery Not handled ✅ Auto-reconnect via lifecycle FSM
Permission failure reporting Silent failure ✅ Explicit diagnostics
Runtime reconfiguration Restart required ✅ Live RPM / scan-mode update
Component composition Standalone only ✅ rclcpp_components support
SDK coupling Direct calls throughout ✅ Interface-based abstraction layer

🚀 Getting Started

Option A — Binary install (coming soon)

This package has been submitted to the ROS 2 build farm. Once it syncs, you will be able to install it directly:

sudo apt install ros-${ROS_DISTRO}-rplidar-driver

Supported distros: Humble, Jazzy, Lyrical, and Rolling.

Option B — Build from source

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

Quick Launch

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

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

🧪 Call for Experiments: “Does it survive?”

We 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:

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

👉 Submit your Experiment Report Here

🏗️ Architecture

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

  • Node Layer: Handles Lifecycle & Parameters.

File truncated at 100 lines see the full file

CONTRIBUTING

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

rplidar_driver repository

rplidar_driver

ROS Distro
humble

Repository Summary

Checkout URI https://github.com/frozenreboot/rplidar_driver.git
VCS Type git
VCS Version main
Last Updated 2026-07-18
Dev Status MAINTAINED
Released RELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Packages

Name Version
rplidar_driver 1.4.1

README

🛡️ Robust RPLIDAR ROS 2 Driver

ROS 2 Humble ROS 2 Jazzy ROS 2 Lyrical ROS 2 Rolling C++17 License ROS 2 CI

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

A fault-tolerant ROS 2 driver for Slamtec RPLIDAR, built around a Lifecycle State Machine and a thread-safe architecture. Your robot keeps running even under hardware disconnection or permission failures.

⚡ Why Use This?

Most existing RPLIDAR drivers assume the hardware never misbehaves. This driver assumes the opposite. Compared to the reference implementation:

Capability Reference Driver This Driver
Hot-plug recovery Not handled ✅ Auto-reconnect via lifecycle FSM
Permission failure reporting Silent failure ✅ Explicit diagnostics
Runtime reconfiguration Restart required ✅ Live RPM / scan-mode update
Component composition Standalone only ✅ rclcpp_components support
SDK coupling Direct calls throughout ✅ Interface-based abstraction layer

🚀 Getting Started

Option A — Binary install (coming soon)

This package has been submitted to the ROS 2 build farm. Once it syncs, you will be able to install it directly:

sudo apt install ros-${ROS_DISTRO}-rplidar-driver

Supported distros: Humble, Jazzy, Lyrical, and Rolling.

Option B — Build from source

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

Quick Launch

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

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

🧪 Call for Experiments: “Does it survive?”

We 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:

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

👉 Submit your Experiment Report Here

🏗️ Architecture

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

  • Node Layer: Handles Lifecycle & Parameters.

File truncated at 100 lines see the full file

CONTRIBUTING

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

rplidar_driver repository

rplidar_driver

ROS Distro
humble

Repository Summary

Checkout URI https://github.com/frozenreboot/rplidar_driver.git
VCS Type git
VCS Version main
Last Updated 2026-07-18
Dev Status MAINTAINED
Released RELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Packages

Name Version
rplidar_driver 1.4.1

README

🛡️ Robust RPLIDAR ROS 2 Driver

ROS 2 Humble ROS 2 Jazzy ROS 2 Lyrical ROS 2 Rolling C++17 License ROS 2 CI

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

A fault-tolerant ROS 2 driver for Slamtec RPLIDAR, built around a Lifecycle State Machine and a thread-safe architecture. Your robot keeps running even under hardware disconnection or permission failures.

⚡ Why Use This?

Most existing RPLIDAR drivers assume the hardware never misbehaves. This driver assumes the opposite. Compared to the reference implementation:

Capability Reference Driver This Driver
Hot-plug recovery Not handled ✅ Auto-reconnect via lifecycle FSM
Permission failure reporting Silent failure ✅ Explicit diagnostics
Runtime reconfiguration Restart required ✅ Live RPM / scan-mode update
Component composition Standalone only ✅ rclcpp_components support
SDK coupling Direct calls throughout ✅ Interface-based abstraction layer

🚀 Getting Started

Option A — Binary install (coming soon)

This package has been submitted to the ROS 2 build farm. Once it syncs, you will be able to install it directly:

sudo apt install ros-${ROS_DISTRO}-rplidar-driver

Supported distros: Humble, Jazzy, Lyrical, and Rolling.

Option B — Build from source

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

Quick Launch

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

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

🧪 Call for Experiments: “Does it survive?”

We 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:

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

👉 Submit your Experiment Report Here

🏗️ Architecture

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

  • Node Layer: Handles Lifecycle & Parameters.

File truncated at 100 lines see the full file

CONTRIBUTING

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

rplidar_driver repository

rplidar_driver

ROS Distro
humble

Repository Summary

Checkout URI https://github.com/frozenreboot/rplidar_driver.git
VCS Type git
VCS Version main
Last Updated 2026-07-18
Dev Status MAINTAINED
Released RELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Packages

Name Version
rplidar_driver 1.4.1

README

🛡️ Robust RPLIDAR ROS 2 Driver

ROS 2 Humble ROS 2 Jazzy ROS 2 Lyrical ROS 2 Rolling C++17 License ROS 2 CI

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

A fault-tolerant ROS 2 driver for Slamtec RPLIDAR, built around a Lifecycle State Machine and a thread-safe architecture. Your robot keeps running even under hardware disconnection or permission failures.

⚡ Why Use This?

Most existing RPLIDAR drivers assume the hardware never misbehaves. This driver assumes the opposite. Compared to the reference implementation:

Capability Reference Driver This Driver
Hot-plug recovery Not handled ✅ Auto-reconnect via lifecycle FSM
Permission failure reporting Silent failure ✅ Explicit diagnostics
Runtime reconfiguration Restart required ✅ Live RPM / scan-mode update
Component composition Standalone only ✅ rclcpp_components support
SDK coupling Direct calls throughout ✅ Interface-based abstraction layer

🚀 Getting Started

Option A — Binary install (coming soon)

This package has been submitted to the ROS 2 build farm. Once it syncs, you will be able to install it directly:

sudo apt install ros-${ROS_DISTRO}-rplidar-driver

Supported distros: Humble, Jazzy, Lyrical, and Rolling.

Option B — Build from source

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

Quick Launch

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

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

🧪 Call for Experiments: “Does it survive?”

We 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:

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

👉 Submit your Experiment Report Here

🏗️ Architecture

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

  • Node Layer: Handles Lifecycle & Parameters.

File truncated at 100 lines see the full file

CONTRIBUTING

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

rplidar_driver repository

rplidar_driver

ROS Distro
humble

Repository Summary

Checkout URI https://github.com/frozenreboot/rplidar_driver.git
VCS Type git
VCS Version main
Last Updated 2026-07-18
Dev Status MAINTAINED
Released RELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Packages

Name Version
rplidar_driver 1.4.1

README

🛡️ Robust RPLIDAR ROS 2 Driver

ROS 2 Humble ROS 2 Jazzy ROS 2 Lyrical ROS 2 Rolling C++17 License ROS 2 CI

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

A fault-tolerant ROS 2 driver for Slamtec RPLIDAR, built around a Lifecycle State Machine and a thread-safe architecture. Your robot keeps running even under hardware disconnection or permission failures.

⚡ Why Use This?

Most existing RPLIDAR drivers assume the hardware never misbehaves. This driver assumes the opposite. Compared to the reference implementation:

Capability Reference Driver This Driver
Hot-plug recovery Not handled ✅ Auto-reconnect via lifecycle FSM
Permission failure reporting Silent failure ✅ Explicit diagnostics
Runtime reconfiguration Restart required ✅ Live RPM / scan-mode update
Component composition Standalone only ✅ rclcpp_components support
SDK coupling Direct calls throughout ✅ Interface-based abstraction layer

🚀 Getting Started

Option A — Binary install (coming soon)

This package has been submitted to the ROS 2 build farm. Once it syncs, you will be able to install it directly:

sudo apt install ros-${ROS_DISTRO}-rplidar-driver

Supported distros: Humble, Jazzy, Lyrical, and Rolling.

Option B — Build from source

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

Quick Launch

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

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

🧪 Call for Experiments: “Does it survive?”

We 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:

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

👉 Submit your Experiment Report Here

🏗️ Architecture

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

  • Node Layer: Handles Lifecycle & Parameters.

File truncated at 100 lines see the full file

CONTRIBUTING

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

rplidar_driver repository

rplidar_driver

ROS Distro
humble

Repository Summary

Checkout URI https://github.com/frozenreboot/rplidar_driver.git
VCS Type git
VCS Version main
Last Updated 2026-07-18
Dev Status MAINTAINED
Released RELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Packages

Name Version
rplidar_driver 1.4.1

README

🛡️ Robust RPLIDAR ROS 2 Driver

ROS 2 Humble ROS 2 Jazzy ROS 2 Lyrical ROS 2 Rolling C++17 License ROS 2 CI

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

A fault-tolerant ROS 2 driver for Slamtec RPLIDAR, built around a Lifecycle State Machine and a thread-safe architecture. Your robot keeps running even under hardware disconnection or permission failures.

⚡ Why Use This?

Most existing RPLIDAR drivers assume the hardware never misbehaves. This driver assumes the opposite. Compared to the reference implementation:

Capability Reference Driver This Driver
Hot-plug recovery Not handled ✅ Auto-reconnect via lifecycle FSM
Permission failure reporting Silent failure ✅ Explicit diagnostics
Runtime reconfiguration Restart required ✅ Live RPM / scan-mode update
Component composition Standalone only ✅ rclcpp_components support
SDK coupling Direct calls throughout ✅ Interface-based abstraction layer

🚀 Getting Started

Option A — Binary install (coming soon)

This package has been submitted to the ROS 2 build farm. Once it syncs, you will be able to install it directly:

sudo apt install ros-${ROS_DISTRO}-rplidar-driver

Supported distros: Humble, Jazzy, Lyrical, and Rolling.

Option B — Build from source

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

Quick Launch

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

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

🧪 Call for Experiments: “Does it survive?”

We 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:

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

👉 Submit your Experiment Report Here

🏗️ Architecture

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

  • Node Layer: Handles Lifecycle & Parameters.

File truncated at 100 lines see the full file

CONTRIBUTING

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

rplidar_driver repository

rplidar_driver

ROS Distro
humble

Repository Summary

Checkout URI https://github.com/frozenreboot/rplidar_driver.git
VCS Type git
VCS Version main
Last Updated 2026-07-18
Dev Status MAINTAINED
Released RELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Packages

Name Version
rplidar_driver 1.4.1

README

🛡️ Robust RPLIDAR ROS 2 Driver

ROS 2 Humble ROS 2 Jazzy ROS 2 Lyrical ROS 2 Rolling C++17 License ROS 2 CI

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

A fault-tolerant ROS 2 driver for Slamtec RPLIDAR, built around a Lifecycle State Machine and a thread-safe architecture. Your robot keeps running even under hardware disconnection or permission failures.

⚡ Why Use This?

Most existing RPLIDAR drivers assume the hardware never misbehaves. This driver assumes the opposite. Compared to the reference implementation:

Capability Reference Driver This Driver
Hot-plug recovery Not handled ✅ Auto-reconnect via lifecycle FSM
Permission failure reporting Silent failure ✅ Explicit diagnostics
Runtime reconfiguration Restart required ✅ Live RPM / scan-mode update
Component composition Standalone only ✅ rclcpp_components support
SDK coupling Direct calls throughout ✅ Interface-based abstraction layer

🚀 Getting Started

Option A — Binary install (coming soon)

This package has been submitted to the ROS 2 build farm. Once it syncs, you will be able to install it directly:

sudo apt install ros-${ROS_DISTRO}-rplidar-driver

Supported distros: Humble, Jazzy, Lyrical, and Rolling.

Option B — Build from source

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

Quick Launch

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

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

🧪 Call for Experiments: “Does it survive?”

We 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:

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

👉 Submit your Experiment Report Here

🏗️ Architecture

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

  • Node Layer: Handles Lifecycle & Parameters.

File truncated at 100 lines see the full file

CONTRIBUTING

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

rplidar_driver repository

rplidar_driver

ROS Distro
humble

Repository Summary

Checkout URI https://github.com/frozenreboot/rplidar_driver.git
VCS Type git
VCS Version main
Last Updated 2026-07-18
Dev Status MAINTAINED
Released RELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Packages

Name Version
rplidar_driver 1.4.1

README

🛡️ Robust RPLIDAR ROS 2 Driver

ROS 2 Humble ROS 2 Jazzy ROS 2 Lyrical ROS 2 Rolling C++17 License ROS 2 CI

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

A fault-tolerant ROS 2 driver for Slamtec RPLIDAR, built around a Lifecycle State Machine and a thread-safe architecture. Your robot keeps running even under hardware disconnection or permission failures.

⚡ Why Use This?

Most existing RPLIDAR drivers assume the hardware never misbehaves. This driver assumes the opposite. Compared to the reference implementation:

Capability Reference Driver This Driver
Hot-plug recovery Not handled ✅ Auto-reconnect via lifecycle FSM
Permission failure reporting Silent failure ✅ Explicit diagnostics
Runtime reconfiguration Restart required ✅ Live RPM / scan-mode update
Component composition Standalone only ✅ rclcpp_components support
SDK coupling Direct calls throughout ✅ Interface-based abstraction layer

🚀 Getting Started

Option A — Binary install (coming soon)

This package has been submitted to the ROS 2 build farm. Once it syncs, you will be able to install it directly:

sudo apt install ros-${ROS_DISTRO}-rplidar-driver

Supported distros: Humble, Jazzy, Lyrical, and Rolling.

Option B — Build from source

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

Quick Launch

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

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

🧪 Call for Experiments: “Does it survive?”

We 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:

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

👉 Submit your Experiment Report Here

🏗️ Architecture

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

  • Node Layer: Handles Lifecycle & Parameters.

File truncated at 100 lines see the full file

CONTRIBUTING

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

rplidar_driver repository

rplidar_driver

ROS Distro
humble

Repository Summary

Checkout URI https://github.com/frozenreboot/rplidar_driver.git
VCS Type git
VCS Version main
Last Updated 2026-07-18
Dev Status MAINTAINED
Released RELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Packages

Name Version
rplidar_driver 1.4.1

README

🛡️ Robust RPLIDAR ROS 2 Driver

ROS 2 Humble ROS 2 Jazzy ROS 2 Lyrical ROS 2 Rolling C++17 License ROS 2 CI

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

A fault-tolerant ROS 2 driver for Slamtec RPLIDAR, built around a Lifecycle State Machine and a thread-safe architecture. Your robot keeps running even under hardware disconnection or permission failures.

⚡ Why Use This?

Most existing RPLIDAR drivers assume the hardware never misbehaves. This driver assumes the opposite. Compared to the reference implementation:

Capability Reference Driver This Driver
Hot-plug recovery Not handled ✅ Auto-reconnect via lifecycle FSM
Permission failure reporting Silent failure ✅ Explicit diagnostics
Runtime reconfiguration Restart required ✅ Live RPM / scan-mode update
Component composition Standalone only ✅ rclcpp_components support
SDK coupling Direct calls throughout ✅ Interface-based abstraction layer

🚀 Getting Started

Option A — Binary install (coming soon)

This package has been submitted to the ROS 2 build farm. Once it syncs, you will be able to install it directly:

sudo apt install ros-${ROS_DISTRO}-rplidar-driver

Supported distros: Humble, Jazzy, Lyrical, and Rolling.

Option B — Build from source

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

Quick Launch

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

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

🧪 Call for Experiments: “Does it survive?”

We 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:

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

👉 Submit your Experiment Report Here

🏗️ Architecture

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

  • Node Layer: Handles Lifecycle & Parameters.

File truncated at 100 lines see the full file

CONTRIBUTING