Docker Images for RPlidar

The repository includes a GitHub Actions workflow that automatically deploys built Docker images to the husarion/rplidar-docker Docker Hub repositories. This process is based on a fork of the fork of Slamtec/sllidar_ros2repository.

Prepare Environment

1. Plugin the Device

You can use lsusb command to check if the device is visible.

Demo

1. Clone the Repository

   git clone https://github.com/husarion/rplidar-docker.git
   cd rplidar-docker/demo

2. Configure demo/.env for your model

   compose.yaml defines three rplidar services — rplidar-serial, rplidar-tcp, rplidar-udp — gated by Compose profiles. Pick the profile matching your hardware via COMPOSE_PROFILES in demo/.env and uncomment the matching parameter block:

   Model	COMPOSE_PROFILES	Other settings
   A1, A2M8	serial	RPLIDAR_BAUDRATE=115200
   A2M7, A2M12, A3	serial	RPLIDAR_BAUDRATE=256000
   C1	serial	RPLIDAR_BAUDRATE=460800
   S1	serial	RPLIDAR_BAUDRATE=256000
   S1 (TCP)	tcp	RPLIDAR_TCP_IP=192.168.0.7, RPLIDAR_TCP_PORT=20108
   S2, S3	serial	RPLIDAR_BAUDRATE=1000000
   S2E, T1	udp	RPLIDAR_UDP_IP=192.168.11.2, RPLIDAR_UDP_PORT=8089

   Each profile requires its own variables — starting a service without them aborts with a message pointing you to demo/.env.

3. Activate the Device and Visualization

   xhost local:root
   docker compose up

   Only the rplidar service for the active profile starts, alongside rviz.

Note

To use the latest version of the image, run the docker compose pull command.

Parameters

Inside the image there is a custom /husarion_utils/rplidar.launch.yaml that is not part of the upstream sllidar_ros2 package. It was added for easy integration with Husarion robots. It accepts the following parameters:

Parameter	Description	Default Value
channel_type	Communication channel: serial, udp or tcp	serial
serial_baudrate	Baudrate (serial channel only)	256000
serial_port	USB port (serial channel only)	/dev/ttyUSB0
udp_ip	UDP IP of the lidar (udp channel only)	192.168.11.2
udp_port	UDP port (udp channel only)	8089
tcp_ip	TCP IP of the lidar (tcp channel only)	192.168.0.7
tcp_port	TCP port (tcp channel only)	20108
inverted	Invert scan data	false
angle_compensate	Enable angle compensation	true
scan_mode	Lidar scan mode (DenseBoost, Sensitivity, Standard) — depends on model	""
namespace	ROS namespace prefixing all topics	env("ROBOT_NAMESPACE") ("" if not specified)
name	Node name; distinguishes multiple lidars on the same robot.	sllidar_node
frame_id	TF frame_id of the laser scan.	laser

Using namespace, name and frame_id together:

• Topic: /<namespace>/<default_topic>
• Node name: <name>
• TF frame: <frame_id>

If namespace is empty, topics stay at /<default_topic>.