Applies to v0.1.0.
2D LiDAR
A spinning laser that measures distance in a flat circle around the car, like the one on the real platform. It is the sensor most mapping and obstacle-avoidance work starts from.
Add it
Sensor Setup → Sensor Type 2D LiDAR → pick the device under Sensor Selection→ place it. Mount it high enough to see over the car's own body. That is what Extrinsics (position Z) is for.
Scan Properties
| Field | What it does | Stock value |
|---|---|---|
| Range (m) | The farthest distance a beam can report | 12 m (min 0.15 m) |
| Horizontal FOV (°) | How much of the circle it sweeps | 360° |
| Angular Resolution (°) | Degrees between neighbouring beams — 1° at 360° means 360 beams per revolution | 1° |
| Update Rate (Hz) | Revolutions per second — one message per revolution | 5.5 Hz |
| Range Noise σ (m) | Random error added to each distance; 0 is a perfect sensor | 0 |
Press Default to return to the stock values.
Two checkboxes that draw on screen
- Show Coverage — draws the area the LiDAR can see, in the 3D view. The quickest way to check your mounting height is right.
- Obs Beams — draws the individual beams and their hit points.
Both are visual aids only; they change nothing about the data.
See it working
The 2D LiDAR is published as a LaserScan and as a point cloud of the hits: a .../scan topic and a .../points topic, from the one sensor.
Foxglove's 3D panel shows the sweep as a ring of points around the car; drive toward a wall and watch the points close in. Over ROS, add a LaserScan or a PointCloud2 display in rviz on the matching topic.