--- title: Install Husarion RPLIDAR on Linux | Snap Store description: Get the latest version of Husarion RPLIDAR for Linux - RPLIDAR ROS 2 driver for Husarion robots url: https://snapcraft.io/husarion-rplidar --- # Husarion RPLIDAR [Husarion](https://snapcraft.io/publisher/husarion "View all snaps from Husarion") * [Husarion](https://snapcraft.io/publisher/husarion "View all snaps from Husarion") * [Devices and IoT](https://snapcraft.io/search?categories=devices-and-iot) jazzy/stable 2.1.4-20260930 Contact us about [Snaps and IoT ›](https://snapcraft.io/about/contact-us) Install jazzy/stable of Husarion RPLIDAR --- **Install using the command line** ``` sudo snap install husarion-rplidar ``` Don't have snapd? [Get set up for snaps](https://snapcraft.io/docs/installing-snapd). --- ### Package name * husarion-rplidar --- ### License * Apache-2.0 --- ### Last updated * 30 September 2026 - jazzy/stable * 30 September 2026 - jazzy/edge --- ### Websites * [husarion.com](https://husarion.com/ "https://husarion.com/") --- ### Contact * [github.com/husarion/husarion-rplidar-snap/issues](https://github.com/husarion/husarion-rplidar-snap/issues "https://github.com/husarion/husarion-rplidar-snap/issues") --- ### Source code * [github.com/husarion/husarion-rplidar-snap](https://github.com/husarion/husarion-rplidar-snap "https://github.com/husarion/husarion-rplidar-snap") --- ### Report a bug * [github.com/husarion/husarion-rplidar-snap/issues](https://github.com/husarion/husarion-rplidar-snap/issues "https://github.com/husarion/husarion-rplidar-snap/issues") --- ##### Report a Snap Store violation * [Report this Snap](https://snapcraft.io/husarion-rplidar#report-snap-modal) --- * [Description](https://snapcraft.io/husarion-rplidar#tab-description) * [Security](https://snapcraft.io/husarion-rplidar#tab-security) #### 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/post_install.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 `ROS_DOMAIN_ID` environment variable for the ROS driver. * `ros.localhost-only`: `0` - Sets the `ROS_LOCALHOST_ONLY` environment variable for the ROS driver. * `ros.transport`: `udp` - Configures DDS transport. Options are `udp`, `shm`, `builtin` (or `rmw_fastrtps_cpp`), `rmw_cyclonedds_cpp`. 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`, `s1_tcp`, `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` - forwarded verbatim; use a slash-separated path (`/laser`) if your consumers read the global `/tf` instead of `//tf` * `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=front_lidar ``` **Husarion cockpit integration** This snap embeds **husarion-agent** as a chain follower: ROS network config (RMW incl. Zenoh, `ROS_DOMAIN_ID`, 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, `ROS_DOMAIN_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`. --- ## Install Husarion RPLIDAR on your Linux distribution Choose your Linux distribution to get detailed installation instructions. If yours is not shown, get more details on the [installing snapd documentation](https://snapcraft.io/docs/installing-snapd). [### Arch Linux](https://snapcraft.io/install/husarion-rplidar/arch) [### CentOS](https://snapcraft.io/install/husarion-rplidar/centos) [### Debian](https://snapcraft.io/install/husarion-rplidar/debian) [### elementary OS](https://snapcraft.io/install/husarion-rplidar/elementary) [### Fedora](https://snapcraft.io/install/husarion-rplidar/fedora) [### KDE Neon](https://snapcraft.io/install/husarion-rplidar/kde-neon) [### Kubuntu](https://snapcraft.io/install/husarion-rplidar/kubuntu) [### Manjaro](https://snapcraft.io/install/husarion-rplidar/manjaro) [### Pop!\_OS](https://snapcraft.io/install/husarion-rplidar/pop) [### openSUSE](https://snapcraft.io/install/husarion-rplidar/opensuse) [### Red Hat Enterprise Linux](https://snapcraft.io/install/husarion-rplidar/rhel) [### Ubuntu](https://snapcraft.io/install/husarion-rplidar/ubuntu) [### Raspberry Pi](https://snapcraft.io/install/husarion-rplidar/raspbian)