Diagnose and calibrate the LiDAR
Perform hardware checks, run the standalone node and control the motor.
If the LiDAR isn’t publishing data as expected, run these diagnostics. They help verify USB connectivity, access the device directly, and control the sensor’s motor via services.
bash
lsusb | grep -i lidar
bash
ls /dev/tty*If the driver cannot connect via the rplidar.launch.py file, try running the node directly with an explicit serial port:
bash
ros2 run rplidar_ros rplidar_node --ros-args -p serial_port:=/dev/ttyUSB0
bash
ros2 service call /${ROS_NAME}/stop_motor std_srvs/srv/Empty "{}"
bash
ros2 service call /${ROS_NAME}/start_motor std_srvs/srv/Empty "{}"To adjust scanning parameters like range_min, range_max or scan_time, edit the rplidar.launch.py or pass parameters via --ros-args -p. Refer to the driver documentation for recommended values.