ROS 2 Driver for LIDAR-Lite V1 (Garmin) Inquiry

[Ross Lunan]

I'm in discussion with an Engineering Student assigned to :integrating a LIDAR sensor -(like LIDAR-Lite V1(Garmin), camera processing, and basic autonomous navigation with obstacle avoidance using ROS2 Humble on a Raspberry Pi 4 with Ubuntu 22.0 . With my assistance he successfully configured a Pi 4 with UB24/ROS Humble and got his iRobot Create1 teleop'ing. He also has a Arduino 2580 and Logitech c270 camera . He got the Arduino working with the Lidar to detect obstacles. He spotted my MockBOT Create Base Repos & wondered if the Lidar could be incorporated into the ROS 2 Create Base packages , perhaps using the Arduino and micro-ros to avoid obstacles autonomously . I couldn't locate any information about doing this deploying this Garmin Lidar-LIte. Any ideas from anyone ? Ross

[Sergei Grichine]

Here is the manual for LIDAR-Lite V1:

https://www.14core.com/wp-content/uploads/2017/03/LIDAR-Lite-v1-Datasheet.pdf

I have one from the age of dinosaurs, and that's one of the buys I regret. Power hog, terrible reliability, questionable performance - all you need for long lasting fun in Robotics. ;-(

Having said that, the device is just a Ranger, and those have straight forward support in ROS2 (well, I use Jazzy, but it seems that students must first test their willingness to pursuit their career by pulling their yet thick hair over thoroughly broken Humble).

To use it from Arduino, make sure that distance ("range") is reported over Serial, have a ROS2 driver exposing "range" state interfaces and configure broadcasters in https://github.com/slgrobotics/articubot_one/blob/dev/robots/plucky/config/controllers.yaml

That's if you are using ros2_control, of course - which you absolutely should for new code.

Pretty easy, Camp won't let me lie to you ;-)

Here is a working sample:

Arduino code: https://github.com/slgrobotics/Misc/tree/master/Arduino/Sketchbook/PluckyWheelsROS

ROS2 driver: https://github.com/slgrobotics/diffdrive_arduino

Other ROS2 components:

- https://github.com/slgrobotics/robots_bringup/blob/main/Docs/ROS-Jazzy/README-BT.md#range-sensors-in-costmap-layer

- https://github.com/slgrobotics/articubot_one/tree/dev  (look for "sonar" and "range")

I hope that helps.

On Wed, Oct 22, 2025 at 6:36 PM 'Ross Lunan' via HomeBrew Robotics Club <hbrob...@googlegroups.com> wrote:

I'm in discussion with an Engineering Student assigned to :integrating a LIDAR sensor -(like LIDAR-Lite V1(Garmin), camera processing, and basic autonomous navigation with obstacle avoidance using ROS2 Humble on a Raspberry Pi 4 with Ubuntu 22.0 . With my assistance he successfully configured a Pi 4 with UB24/ROS Humble and got his iRobot Create1 teleop'ing. He also has a Arduino 2580 and Logitech c270 camera . He got the Arduino working with the Lidar to detect obstacles. He spotted my MockBOT Create Base Repos & wondered if the Lidar could be incorporated into the ROS 2 Create Base packages , perhaps using the Arduino and micro-ros to avoid obstacles autonomously . I couldn't locate any information about doing this deploying this Garmin Lidar-LIte. Any ideas from anyone ? Ross

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Best Regards,

-- Sergei