The husarion-rplidar snap contains all the necessary software to bring the RPLIDAR LIDARS up.

Parameters

The snap provides the following configurable parameters (param name: default value):

• configuratin: custom
• 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/rosbot-xl/common directory (custom FastDDS setups can also be created here).
• ros.namespace: (unset) - Namespace for all topics and transforms.

The driver contains the following keys:

• channel-type: serial
• serial-port: auto
• serial-baudrate: 256000
• frame-id: laser
• inverted: false
• angle-compensate: true
• scan-mode: (unset)
• device-namespace: (unset)

To set the parameters, use the snap set command, e.g.,

snap set husarion-rplidar driver.device-namespace=front_lidar