Husarion RPLIDAR

By Husarion Verified account

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Version2.1.4+git7.g24cc9b6
Revision124
Licenseunset
Confinementstrict
Basecore22

RPLIDAR ROS 2 driver for Husarion robots

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/postinstall.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 ROSDOMAINID environment variable for the ROS driver.
  • ros.localhost-only: 0 - Sets the ROSLOCALHOSTONLY environment variable for the ROS driver.
  • ros.transport: udp - Configures DDS transport. Options are udp, shm, builtin (or rmwfastrtpscpp), rmwcycloneddscpp. 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, s1tcp, 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
  • 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=frontlidar


Husarion cockpit integration

This snap embeds husarion-agent as a chain follower: ROS network config (RMW incl. Zenoh, ROSDOMAINID, 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, ROSDOMAIN_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.

Update History

2.1.4+git4.gd71b45d (39) → 2.1.4+git7.g24cc9b6 (124)
24 Jul 2026, 10:00 UTC
2.1.4+git4.gd71b45d 38 → 39
17 Jun 2026, 17:45 UTC
2.1.4+git4.gd71b45d (38)
1 Apr 2026, 21:28 UTC

Published30 May 2024, 07:24 UTC

Last updated22 Jul 2026, 11:39 UTC

First seen1 Apr 2026, 21:28 UTC