Skip to content

LiDAR Sensors#

Configuration details for supported LiDAR models.

Supported Models#

Model Type FOV Range Network Config
Seyond Robin-W Solid-state 120° × 25° 200m 172.168.1.10 lidar_model:=robin-w
Velodyne VLP-32C Spinning 360° × 40° 200m 192.168.1.201 lidar_model:=vlp32c
Blickfeld Cube1 Solid-state 70° × 30° 150m 192.168.26.26 lidar_model:=cube1

Robin-W#

Network Setup#

LiDAR IP: 172.168.1.10 (fixed) Jetson IP: 172.168.1.100/24 (configure on same subnet)

# Configure Jetson network interface
sudo ip addr add 172.168.1.100/24 dev eth0
sudo ip link set eth0 up

# Test connectivity
ping 172.168.1.10

Coordinate Transformation#

Important: Robin-W requires rotation to match ROS standard coordinates.

Native coordinates: X=up, Y=right, Z=forward ROS standard: X=forward, Y=left, Z=up

Required calibration: 

robin_lidar_link:
  roll: 3.14159    # 180° flip
  pitch: -1.5708   # -90° rotation
  yaw: 0.0

See Integration Walkthrough for detailed explanation.

Driver Package#

Location: src/sensor_component/external/seyond_ros_driver/ Point Format: PointXYZIRC (Autoware-compatible)

Test Standalone#

colcon build --packages-select seyond_ros_driver
source install/setup.bash
ros2 launch seyond_ros_driver robin_w.launch.py

# Verify
ros2 topic hz /robin_lidar/points_raw  # ~10 Hz

Troubleshooting#

No data: Check ping 172.168.1.10 succeeds Wrong orientation: Verify roll=3.14159, pitch=-1.5708 in calibration

Velodyne VLP-32C#

Network Setup#

LiDAR IP: 192.168.1.201 (factory default) Jetson IP: 192.168.1.100/24

# Configure Jetson
sudo ip addr add 192.168.1.100/24 dev eth0

# Test connectivity
ping 192.168.1.201

Coordinate System#

Standard ROS coordinates - No rotation needed: 

velodyne_link:
  roll: 0.0
  pitch: 0.0
  yaw: 0.0

Driver Package#

Location: src/sensor_component/external/velodyne/ Installation: sudo apt install ros-humble-velodyne Point Format: PointXYZIR (standard Velodyne)

Advanced: Dual Return Mode#

For better performance in rain/fog: 

/**:
  ros__parameters:
    rpm: 600
    return_type: "dual"  # Both strongest and last returns

Test Standalone#

ros2 launch velodyne_pointcloud velodyne_driver_node-VLP32C-launch.py device_ip:=192.168.1.201

# Verify
ros2 topic hz /velodyne_points  # ~10-20 Hz

Troubleshooting#

Packet loss: Increase UDP buffer size: 

sudo sysctl -w net.core.rmem_max=26214400

Gaps in scan: Configure CycloneDDS buffers (see Installation Guide)

Blickfeld Cube1#

Network Setup#

LiDAR IP: 192.168.26.26 (fixed) Jetson IP: 192.168.26.1/24

# Configure Jetson
sudo ip addr add 192.168.26.1/24 dev eth0
sudo ip link set eth0 up

# Test connectivity
ping 192.168.26.26

Coordinate System#

Standard ROS coordinates - No rotation needed: 

bf_lidar_link:
  roll: 0.0
  pitch: 0.0
  yaw: 0.0

Driver Package#

Location: src/sensor_component/external/ros2_blickfeld_driver_src-v1.5.5/ Requires: Blickfeld Scanner Library 2.20.6-newslab1 (install via just blickfeld)

Test Standalone#

colcon build --packages-select blickfeld_driver
source install/setup.bash
ros2 launch blickfeld_driver live_scanner_node.launch.py

# Verify
ros2 topic hz /bf_lidar/points_raw

Troubleshooting#

Connection failed: Verify Scanner Library installed: 

dpkg -l | grep blickfeld

EULA error: Run just blickfeld to accept license

Multi-LiDAR Setup#

Combine multiple LiDARs for increased coverage:

# sensor_kit_calibration.yaml
sensor_kit_base_link:
  robin_lidar_link:    # Front-facing
    x: 0.15
    z: 0.15
    roll: 3.14159
    pitch: -1.5708

  velodyne_link:       # Top 360°
    x: 0.0
    z: 0.30
    roll: 0.0
    pitch: 0.0

Configure fusion in pointcloud_preprocessor.launch.py: 

"input_topics": [
    "/sensing/lidar/robin_lidar/points_raw",
    "/sensing/lidar/velodyne/points_raw",
]

Quick Reference#

# Network tests
ping 172.168.1.10    # Robin-W
ping 192.168.1.201   # Velodyne
ping 192.168.26.26   # Blickfeld

# Topic verification
ros2 topic list | grep /sensing/lidar
ros2 topic hz /sensing/lidar/robin_lidar/points_raw

# TF verification
ros2 run tf2_ros tf2_echo sensor_kit_base_link robin_lidar_link

# Network monitoring
sudo iftop -i eth0