iLidar ROS 2 Packages

ROS 2 C++ packages for the iTFS and iTFS-LITE product families.

Version: V2.0.2

Create a ROS 2 workspace and place this repository under its src directory:

mkdir -p ~/ilidar_ros2_ws/src
cd ~/ilidar_ros2_ws/src
git clone https://github.com/ilidar-tof/ilidar-ros2.git

source /opt/ros/jazzy/setup.bash
cd ~/ilidar_ros2_ws
rosdep install --from-paths src --ignore-src -r -y
colcon build
source install/setup.bash

Launch the viewer for the connected product:

# iTFS
ros2 launch ilidar_itfs_ros2 viewer.launch.py

# iTFS-LITE
ros2 launch ilidar_lite_ros2 viewer.launch.py

Each viewer discovers connected sensors and creates one RViz group per serial number. Closing RViz also stops the driver included by viewer.launch.py.

Sensor configuration, firmware, flash, and calibration operations are outside these receive-side ROS packages. Configure the sensor with its dedicated tool before starting a driver.

Dependencies are declared in each package's package.xml and can be installed with rosdep. The packages use C++17 and CMake 3.8 or newer. OpenCV, PCL, and Open3D are not required because visualization uses ROS messages and RViz2.

From the workspace root:

source /opt/ros/<distro>/setup.bash

colcon build --packages-select ilidar_itfs_ros2
colcon build --packages-select ilidar_lite_ros2

Use normal colcon options when a specific build type is required:

colcon build --packages-select ilidar_itfs_ros2 \
  --cmake-args -DCMAKE_BUILD_TYPE=Release

Source the workspace in every terminal before launching a package:

source ~/ilidar_ros2_ws/install/setup.bash

# Driver only
ros2 launch ilidar_itfs_ros2 itfs.launch.py

# Driver and RViz2 with automatic sensor discovery
ros2 launch ilidar_itfs_ros2 viewer.launch.py

# Create known RViz groups immediately
ros2 launch ilidar_itfs_ros2 viewer.launch.py sensor_sns:=2405,2406

Verify the running driver using the detected serial number:

ros2 node list
ros2 topic echo /ilidar_2405/info --once
ros2 topic echo /ilidar_2405/depth/image_raw --once --field encoding

# Driver only
ros2 launch ilidar_lite_ros2 lite.launch.py

# Driver and RViz2 with automatic sensor discovery
ros2 launch ilidar_lite_ros2 viewer.launch.py

# Create known RViz groups immediately
ros2 launch ilidar_lite_ros2 viewer.launch.py sensor_sns:=87,88,101

Verify the running driver using the detected serial number:

ros2 node list
ros2 topic echo /ilidar_lite_87/info --once
ros2 topic echo /ilidar_lite_87/depth/image_raw --once --field encoding

The sensor_sns argument creates RViz groups but does not filter devices accepted by the driver. Use fixed_frame:=<frame> when configured sensors do not share the default base_link.

Both packages publish organized XYZ in meters, static TF, sensor information, and diagnostics.

The ROS wrappers and included SDK source are licensed under the MIT License. Copyright 2022-Present HYBO Inc. See LICENSE. Third-party ROS 2, RViz2, and system dependencies retain their own licenses.