Husarion RPLIDAR

The husarion-rplidar snap contains all the necessary software to bring the RPLIDAR LIDARS up.

Installation

sudo snap install husarion-rplidar

After installation, connect the required interfaces (raw-usb, hardware-observe, shared memory), pick your LIDAR model and start the driver:

sudo /var/snap/husarion-rplidar/common/post_install.sh
sudo snap set husarion-rplidar driver.model=s2    # your model, see the list below
sudo husarion-rplidar.start

Parameters

The snap provides the following configurable parameters (param name: default value):

• driver: {...}
• ros: {...}

The ros contains the following keys:

• ros.domain-id: 0 - Sets the ROS_DOMAIN_ID environment variable for the ROS driver.
• ros.localhost-only: 0 - Sets the ROS_LOCALHOST_ONLY environment variable for the ROS driver.
• ros.transport: udp - Configures DDS transport. Options are udp, shm, builtin (or rmw_fastrtps_cpp), rmw_cyclonedds_cpp. Corresponding DDS XML files can be found in the /var/snap/husarion-rplidar/common directory (custom FastDDS setups can also be created here).
• ros.namespace: (unset) - Namespace for all topics and transforms.

The driver.model key (unset by default — required before the driver starts) selects a preset matching one of the supported LIDAR models: custom, a1, a2m7, a2m8, a2m12, a3, c1, s1, s1_tcp, s2, s2e, s3, t1.

The driver contains the following keys:

• model: (unset) - required — the LIDAR model preset listed above
• channel-type: serial - one of serial, udp, tcp
• serial-port: auto - serial device path (or auto for autodetect)
• serial-baudrate: 256000
• udp-ip: (unset) - used when channel-type=udp (e.g. T1, S2E)
• udp-port: (unset)
• tcp-ip: (unset) - used when channel-type=tcp (e.g. S1 over TCP)
• tcp-port: (unset)
• frame-id: laser - forwarded verbatim; use a slash-separated path (<namespace>/laser) if your consumers read the global /tf instead of /<namespace>/tf
• inverted: false
• angle-compensate: true
• scan-mode: (unset)
• name: (unset) - Node name (defaults to rplidar). Useful for distinguishing multiple lidars on the same robot.

To set the parameters, use the snap set command, e.g.,

snap set husarion-rplidar driver.name=front_lidar

Husarion cockpit integration

This snap embeds husarion-agent as a chain follower: ROS network config (RMW incl. Zenoh, ROS_DOMAIN_ID, namespace) and custom RMW profiles set on the chain owner (the rosbot snap, or the cockpit WebUI Manage tab) propagate here automatically — when chained, don't set ros.transport locally. The ros.* keys above are the standalone path.

Joining a robot's agent chain (optional)

If a rosbot snap is installed alongside this one and you want this LIDAR's network config (RMW, ROS_DOMAIN_ID, namespace) to follow the robot's, connect the chain manually:

sudo snap connect husarion-rplidar:agent-chain rosbot:agent-chain

This is not done automatically — installing husarion-rplidar never installs rosbot.