paramters.md

#　ROS2 Paramters Table

##　Paramters Description

Parameter	Type	Description
port	String	port of lidar (ex. /dev/ttyUSB0)
baudrate	int	baudrate of lidar (ex. 230400)
frame_id	String	TF frame of sensor, default: laser_frame
singleChannel	bool	Whether LiDAR is a single-channel, default: false
resolution_fixed	bool	Fixed angluar resolution, default: true
auto_reconnect	bool	Automatically reconnect the LiDAR, default: true
reversion	bool	Reversion LiDAR, default: true
isToFLidar	bool	Whether LiDAR is TOF Type, default: false
angle_min	float	Minimum Valid Angle, defalut: -180.0
angle_max	float	Maximum Valid Angle, defalut: 180.0
range_min	float	Minimum Valid range, defalut: 0.01m
range_max	float	Maximum Valid range, defalut: 64.0m
ignore_array	String	LiDAR filtering angle area, default: ""
samp_rate	int	sampling rate of lidar, default: 9
frequency	float	scan frequency of lidar,default: 10.0

##　Baudrate Table

LiDAR	baudrate
F4/S2/X2/X2L/S4/TX8/TX20/G4C	115200
X4	128000
S4B	153600
G1/G2/R2/G4/G4PRO/F4PRO	230400
G6/TG15/TG30/TG50	512000

SingleChannel Table

LiDAR	singleChannel
G1/G2/G4/G6/F4/F4PRO/S4/S4B/X4/R2/G4C	false
S2/X2/X2L	true
TG15/TG30/TG50	false
TX8/TX20	true

##isToFLidar Table

LiDAR	isToFLidar
G1/G2/G4/G6/F4/F4PRO/S4/S4B/X4/R2/G4C/S2/X2/X2L	false
TG15/TG30/TG50/TX8/TX20	true

Sampling Rate Table

LiDAR	samp_rate
G4/F4	4,8,9
F4PRO	4,6
G6	8,16,18
G1/G2/R2/X4	5
S4/S4B/G4C/TX8/TX20	4
S2	3
TG15/TG30/TG50	10,18,20

##　Frequency Table

LiDAR	frequency
G1/G2/R2/G6/G4/G4PRO/F4/F4PRO	5-12Hz
S4/S4B/S2/TX8/TX20/X4	Not Support
TG15/TG30/TG50	3-16Hz

Note: For unsupported LiDARs, adjusting the scanning frequency requires external access to PWM speed control.