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Add the ability to control the depth and reliability of the /scan topic

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Matt Spencer
2026-04-23 08:46:15 +00:00
parent 0174cb599f
commit c7b1d60859
5 changed files with 62 additions and 8 deletions
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lidar/README.md
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@@ -70,7 +70,8 @@ git remote add sllidar_ros2 https://github.com/m5p3nc3r/sllidar_ros2.git
| File | Change |
|---|---|
| `src/sllidar_node.cpp` | `/scan` publisher QoS set to `BEST_EFFORT` with depth 2. Required for compatibility with Nav2 and RViz2, which subscribe to `/scan` with `BEST_EFFORT`. The upstream default (`RELIABLE`) causes those consumers to receive no data. |
| `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: