To use a Velodyne LIDAR, you can use the velodyne ROS 2 driver available on GitHub.

Installation

First, clone the package into the source directory of your colcon workspace.

cd ~/humble_ws/src
git clone <https://github.com/ros-drivers/velodyne.git>
git checkout humble-devel

Next, build the package

cd ~/humble_ws/
colcon build
source ~/humble_ws/install/setup.bash

Launching the package

To launch your velodyne node, use the launch file that corresponds to the model of your LiDar.

<aside> ⚠️ You have the option to launch the node in a composed mode, this can save some computer processing speed

</aside>

The launch options are shown below:

• velodyne_driver_node-VLP16-launch.py
• velodyne_driver_node-VLP32C-launch.py
• velodyne_driver_node-VLS128-launch.py

Launch the node corresponding to your Velodyne Hardware.

Home Page: 3. Real Robot Guide