ROS Paramters Table

Paramters Description

Parameter	Type	Description
`port`	String	port of lidar (ex. /dev/ttyUSB0)
`baudrate`	int	baudrate of lidar (ex. 230400)
`frame_id`	String	TF frame of sensor, default: `laser_frame`
`isSingleChannel`	bool	Whether LiDAR is a single-channel, default: false
`resolution_fixed`	bool	Fixed angluar resolution, default: true
`auto_reconnect`	bool	Automatically reconnect the LiDAR, default: true
`reversion`	bool	Reversion LiDAR, default: true
`isTOFLidar`	bool	Whether LiDAR is TOF Type, default: false
`angle_min`	float	Minimum Valid Angle, defalut: -180.0
`angle_max`	float	Maximum Valid Angle, defalut: 180.0
`range_min`	float	Minimum Valid range, defalut: 0.01m
`range_max`	float	Maximum Valid range, defalut: 64.0m
`ignore_array`	String	LiDAR filtering angle area, default: ""
`samp_rate`	int	sampling rate of lidar, default: 9
`frequency`	float	scan frequency of lidar,default: 10.0

##　isToFLidar Table

LiDAR	isTOFLidar
G1/G2/G4/G6/F4/F4PRO/S4/S4B/X4/R2/G4C/S2/X2/X2L	false
TG15/TG30/TG50/TX8/TX20	true

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