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Use upstream lidar code

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Matt Spencer
2026-05-07 20:01:57 +00:00
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# RPLIDAR A1 — LIDAR Container
ROS 2 container for the Slamtec RPLIDAR A1, built on top of a fork of the
official `sllidar_ros2` driver.
ROS 2 container for the Slamtec RPLIDAR A1, using the upstream
[sllidar_ros2](https://github.com/Slamtec/sllidar_ros2) driver cloned at build time.
---
@@ -13,7 +13,6 @@ official `sllidar_ros2` driver.
│ │
│ serial 115200 baud │
│ angle_compensate = true │
│ scan_mode = Sensitivity │
│ ▼ │
│ /dev/ttyUSB0 ──────> RPLIDAR A1 │
│ │
@@ -27,89 +26,32 @@ official `sllidar_ros2` driver.
## How the build works
The driver source lives in `lidar/sllidar_ros2/` as a **git subtree** of this
repository. The [Dockerfile](Dockerfile) copies it directly from the
workspace — no network access is required at build time.
The [Dockerfile](Dockerfile) clones the upstream driver from GitHub at build time:
```
Workspace repo Docker build
────────────────────────── ──────────────────────────────────────────
lidar/sllidar_ros2/ ───> COPY lidar/sllidar_ros2/ src/sllidar_ros2/
(git subtree of fork) colcon build --packages-select sllidar_ros2
git clone https://github.com/Slamtec/sllidar_ros2.git
colcon build --packages-select sllidar_ros2
```
The upstream fork is maintained at:
https://github.com/m5p3nc3r/sllidar_ros2
---
## Development workflow
### Pulling upstream changes into the workspace
To pin to a specific branch or tag, pass `SLLIDAR_REF` as a build arg:
```bash
git subtree pull --prefix=lidar/sllidar_ros2 sllidar_ros2 main --squash
docker compose build --build-arg SLLIDAR_REF=v2.0.0 lidar
```
This fetches the latest commits from the fork, squashes them into a single
merge commit, and updates `lidar/sllidar_ros2/` in the workspace.
### Making local changes
Edit files inside `lidar/sllidar_ros2/` as normal, then commit them to the
workspace repo:
```bash
git add lidar/sllidar_ros2/
git commit -m "lidar: describe the change"
```
### Pushing changes back to the fork
```bash
git subtree push --prefix=lidar/sllidar_ros2 sllidar_ros2 main
```
This replays only the commits that touched `lidar/sllidar_ros2/` and pushes
them to the fork's `main` branch.
### First-time setup on a fresh clone
The subtree files are committed in the workspace repo, so a `git clone` of
this repo is all that is needed — there is no separate step to initialise the
subtree. To be able to pull or push to the fork later, add the remote:
```bash
git remote add sllidar_ros2 https://github.com/m5p3nc3r/sllidar_ros2.git
```
---
## Changes relative to upstream
| File | Change |
|---|---|
| `src/sllidar_node.cpp` | `/scan` publisher QoS made configurable via `scan_qos_depth` (int) and `scan_qos_reliability` (`best_effort`\|`reliable`) parameters. Defaults to `best_effort`, depth 2 — required for Nav2 / RViz2 compatibility. |
| `launch/sllidar_a1_launch.py` | Exposes `scan_qos_depth` and `scan_qos_reliability` as launch arguments. |
The upstream Slamtec repository is at:
https://github.com/slamtec/sllidar_ros2
---
## Published topics
| Topic | Type | Description |
|---|---|---|
| `/scan` | `sensor_msgs/LaserScan` | 360° laser scan, `BEST_EFFORT` QoS, depth 2 |
| `/scan` | `sensor_msgs/LaserScan` | 360° laser scan |
## Device
The RPLIDAR A1 connects via USB serial at `/dev/ttyUSB0` (default), 115200 baud.
The container receives access to that device via the `devices` mapping in
[docker-compose.yml](../docker-compose.yml). To use a different port, set
[docker-compose.yml](../docker-compose.yml). To use a different port, set
`LIDAR_PORT` in your `.env` file:
```bash