ydlidar_ros2_driver_jazzy/params/ydlidar.yaml at jazzy · fordft168/ydlidar_ros2_driver_jazzy · GitHub

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# YDLidar X4 Pro Configuration for ROS2 Jazzy
# Note: This lidar reports as S2PRO and requires single channel mode
ydlidar_ros2_driver_node:
  ros__parameters:
    # Serial port - your lidar is on USB1
    port: /dev/ttyUSB1

    # TF frame ID for the laser scan
    frame_id: laser_frame

    # Ignore array for filtering angle ranges (e.g., "-90, -80, 30, 40")
    ignore_array: ""

    # Baudrate: 128000 bps (as detected by SDK)
    baudrate: 128000

    # Lidar type: 1 = TYPE_TRIANGLE
    lidar_type: 1

    # Device type: 0 = YDLIDAR_TYPE_SERIAL
    device_type: 0

    # This lidar requires single channel mode (reports as S2PRO)
    isSingleChannel: true

    # No intensity data
    intensity: false
    intensity_bit: 0

    # Sample rate: 5 KHz (as detected by SDK)
    sample_rate: 5

    # Number of abnormal startup data attempts
    abnormal_check_count: 4

    # Fixed angular resolution
    fixed_resolution: true

    # Reversion (matching what worked before)
    reversion: true

    # Inverted scanning direction (CounterClockWise)
    inverted: true

    # Auto reconnect on disconnect
    auto_reconnect: true

    # Motor DTR control
    support_motor_dtr: false

    # Angular range (full 360 degrees)
    angle_max: 180.0
    angle_min: -180.0

    # Range: 0.12m - 12m
    range_max: 12.0
    range_min: 0.12

    # Scanning frequency: 10 Hz
    frequency: 10.0

    # Invalid range handling
    invalid_range_is_inf: false

    # Debug mode
    debug: false