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ROS Paramters Table

Dataset

LIDAR Model Baudrate SampleRate(K) Range(m) Frequency(HZ) Intenstiy(bit) SingleChannel voltage(V)
F4 1 115200 4 0.12~12 5~12 false false 4.8~5.2
S4 4 115200 4 0.10~8.0 5~12 (PWM) false false 4.8~5.2
S4B 4/11 153600 4 0.10~8.0 5~12(PWM) true(8) false 4.8~5.2
S2 4/12 115200 3 0.10~8.0 4~8(PWM) false true 4.8~5.2
G4 5 230400 9/8/4 0.28/0.26/0.1~16 5~12 false false 4.8~5.2
X4 6 128000 5 0.12~10 5~12(PWM) false false 4.8~5.2
X2/X2L 6 115200 3 0.10~8.0 4~8(PWM) false true 4.8~5.2
G4PRO 7 230400 9/8/4 0.28/0.26/0.1~16 5~12 false false 4.8~5.2
F4PRO 8 230400 4/6 0.12~12 5~12 false false 4.8~5.2
R2 9 230400 5 0.12~16 5~12 false false 4.8~5.2
G6 13 512000 18/16/8 0.28/0.26/0.1~25 5~12 false false 4.8~5.2
G2A 14 230400 5 0.12~12 5~12 false false 4.8~5.2
G2 15 230400 5 0.28~16 5~12 true(8) false 4.8~5.2
G2C 16 115200 4 0.1~12 5~12 false false 4.8~5.2
G4B 17 512000 10 0.12~16 5~12 true(10) false 4.8~5.2
G4C 18 115200 4 0.1~12 5~12 false false 4.8~5.2
G1 19 230400 9 0.28~16 5~12 false false 4.8~5.2
G5 20 230400 9/8/4 0.28/0.26/0.1~16 5~12 false false 4.8~5.2
G7 21 512000 18/16/8 0.28/0.26/0.1~25 5~12 false false 4.8~5.2
TX8 　 100 115200 4 0.05~8 4~8(PWM) false true 4.8~5.2
TX20 　 100 115200 4 0.05~20 4~8(PWM) false true 4.8~5.2
TG15 　 100 512000 20/18/10 0.05~30 3~16 false false 4.8~5.2
TG30 　 101 512000 20/18/10 0.05~30 3~16 false false 4.8~5.2
TG50 　 102 512000 20/18/10 0.05~50 3~16 false false 4.8~5.2
T15 　 200 8000 20 0.05~30 5~35 true false 4.8~5.2

Baudrate Table

LiDAR baudrate
F4/S2/X2/X2L/S4/TX8/TX20/G4C 115200
X4 128000
S4B 153600
G1/G2/R2/G4/G5/G4PRO/F4PRO 230400
G6/G7/TG15/TG30/TG50 512000
T5/T15 8000 (network port)

SingleChannel Table

LiDAR isSingleChannel
G1/G2/G4/G5/G6/G7/F4/F4PRO/S4/S4B/X4/R2/G4C false
S2/X2/X2L true
TG15/TG30/TG50 false
TX8/TX20 true
T5/T15 false (optional)

LidarType Table

LiDAR lidar_type
G1/G2/G4/G5/G6/G7/F4/F4PRO/S4/S4B/X4/R2/G4C/S2/X2/X2L TYPE_TRIANGLE
TG15/TG30/TG50/TX8/TX20 TYPE_TOF
T5/T15 TYPE_TOF_NET

DeviceType Table

LiDAR lidar_type
G1/G2/G4/G5/G6/G7/F4/F4PRO/S4/S4B/X4/R2/G4C/S2/X2/X2L YDLIDAR_TYPE_SERIAL
TG15/TG30/TG50/TX8/TX20 YDLIDAR_TYPE_SERIAL
T5/T15 YDLIDAR_TYPE_TCP

Sampling Rate Table

LiDAR sample_rate
G4/G5/F4 4,8,9
F4PRO 4,6
G6/G7 8,16,18
G2/R2/X4 5
G1 9
S4/S4B/G4C/TX8/TX20 4
S2 3
TG15/TG30/TG50 10,18,20
T5/T15 20

Frequency Table

LiDAR frequency
G1/G2/R2/G6/G7/G4/G5/G4PRO/F4/F4PRO 5-12Hz
S4/S4B/S2/TX8/TX20/X4 Not Support
TG15/TG30/TG50 3-16Hz
T5/T15 5-35Hz

Note: For unsupported LiDARs, adjusting the scanning frequency requires external access to PWM speed control.

Reversion Table

LiDAR reversion
G1/G2/G2A/G2C/F4/F4PRO/R2 true
G4/G5/G4PRO/G4B/G4C/G6/G7 true
TG15/TG30/TG50 true
T5/T15 true
S2/X2/X2L/X4/S4/S4B false
TX8/TX20 false

Intensity Table

LiDAR intensity
S4B/G2/G4B true
G4/G5/G4C/G4PRO/F4/F4PRO/G6/G7 false
G1/G2A/G2C/R2 false
S2/X2/X2L/X4 false
TG15/TG30/TG50 false
TX8/TX20 false
T5/T15 true
false

DTR Support Table

LiDAR support_motor_dtr
S4/S4B/S2/X2/X2L/X4 true
TX8/TX20 true
G4/G5/G4C/G4PRO/F4/F4PRO/G6/G7 false
G1/G2A/G2C/R2/G2/G4B false
TG15/TG30/TG50 false
T5/T15 false