lidar-driver-config

Use the ldlidar_stl_ros2 package with port_baudrate 230400, set port_name to your serial device, and define frame_id matching your URDF link. Set laser_scan_dir to True so the clockwise LD19 scan matches the ROS counterclockwise convention.

rplidar_ros is the legacy Slamtec driver package while sllidar_ros2 is the current one supporting newer models like the RPLidar S2. Both expose serial_port, serial_baudrate, frame_id, and scan_mode parameters, with sllidar_ros2 adding scan_frequency control.

A mirrored map means the scan direction is wrong relative to the ROS counterclockwise convention. Fix it by toggling the driver's laser_scan_dir or inverted parameter, or by rotating the laser frame 180 degrees in the URDF joint origin.

Use the laserscan_multi_merger node from ira_laser_tools with your scan topics listed in laserscan_topics and destination_frame set to base_link. It transforms each scan via TF and publishes one unified scan topic for SLAM and navigation.

Set the driver's inverted parameter to True to flip the scan vertically, and add a 180-degree roll (rpy="3.14159 0 0") to the lidar joint in URDF. Verify in RViz that scan points appear at the correct height and orientation.

Use the laser_filters package with a scan_to_scan_filter_chain combining LaserScanRangeFilter for distance bounds, LaserScanAngularBoundsFilter to exclude angles blocked by the chassis, and LaserScanMedianFilter to smooth noise.