ust_05ln_ros2

ROS2 node for Hokuyo UST-05LN and UST-08NL-11 LiDAR sensor. Ported from ROS1. Originally by BasB1.

Build :

colcon build --symlink-install --packages-select ust_05ln_ros2

Udev rule:

sudo cp 15-ust05ln.rules /etc/udev/rule.d/
sudo udevadm control --reload-rules
sudo udevadm trigger

running ls /dev | grep hokuyo should return the grep result with hokuyo

Run :

ros2 launch ust_05ln_ros2 ust_05ln.launch.py

I implemented the auto identification feature to identify LiDAR type using the product name.
This code is currently support

• UST-05LN - 5 meter 541 Data points with 0.5 degree resolution
• UST-08LN-11 - 8 meter 1081 Data points with 0.25 degree resolution (similar to UST-10LN)
• UST-08LNR-11*
• UST-07LNR-02*
  *untested as I don't own these sensors, I have a plan to buy the UST-08LNR-11 very soon to test

TODO

• Get my hand on UST-08LNR11, UST-07LNR-02 and if possible UST-08LN-21 and UST-08LNR-21