LiDAR / ROS and ROS 2 nodes

About ROS 2

ROS (Robot Operating System) is a framework that makes it easy to develop robot systems using existing software.
Using ROS has various advantages, but actually there are problems such as security, required specifications, and real-time performance. To solve these problems, we are developing ROS2 to apply not only for research purposes but also for product applications.
ROS (Robot Operating System) is popular all over the world as a robot development framework, and Hokuyo has developed LiDAR node preparing demand of ROS2, which has solved existing problems.

ROS 2 urg_node2 for 2D

2D-URG node urg_node2 running on ROS2

The interface and some processing refer to the urg_node package, which is often used in ROS1.
Also, urg_library ver.1.2.5 C language API is used for communication with LiDAR.
It supports lifecycle control, which is a function of ROS2.
Please refer to the link below for how to use the ROS2 2D-URG node (urg_node2).
https://sourceforge.net/p/urgnetwork/wiki/urg3d_node2_en/

Where to get ROS 2 urg_node2 for 2D

ROS 2 urg_node2 for 2D is available on GitHub.
https://github.com/Hokuyo-aut/urg_node2

ROS 2 urg3d_node2 for 3D

3D-URG node urg3d_node2 running on ROS2

It can be used with sensors compatible with VSSP 2.1, such as 3D LiDAR "YVT-35LX-F0" and "YVT-35LX-FK".
The interface and some processing are based on the hokuyo3d package, which is often used in ROS1.
urg3d_library C language API is used for communication with LiDAR.
It supports lifecycle control, which is a function of ROS2.
Please refer to the link below for how to use the ROS2 3D-URG node (urg3d_node2).
https://sourceforge.net/p/urgnetwork/wiki/urg3d_node2_en/