details.md

ROS Paramters Table

Dataset

LIDAR	Model	Baudrate	SampleRate(K)	Range(m)	Frequency(HZ)	Intenstiy(bit)	SingleChannel	voltage(V)
F4	1	115200	4	0.12~12	5~12	false	false	4.8~5.2
S4	4	115200	4	0.10~8.0	5~12 (PWM)	false	false	4.8~5.2
S4B	4/11	153600	4	0.10~8.0	5~12(PWM)	true(8)	false	4.8~5.2
S2	4/12	115200	3	0.10~8.0	4~8(PWM)	false	true	4.8~5.2
G4	5	230400	9/8/4	0.28/0.26/0.1~16	5~12	false	false	4.8~5.2
X4	6	128000	5	0.12~10	5~12(PWM)	false	false	4.8~5.2
X2/X2L	6	115200	3	0.10~8.0	4~8(PWM)	false	true	4.8~5.2
G4PRO	7	230400	9/8/4	0.28/0.26/0.1~16	5~12	false	false	4.8~5.2
F4PRO	8	230400	4/6	0.12~12	5~12	false	false	4.8~5.2
R2	9	230400	5	0.12~16	5~12	false	false	4.8~5.2
G6	13	512000	18/16/8	0.28/0.26/0.1~25	5~12	false	false	4.8~5.2
G2A	14	230400	5	0.12~12	5~12	false	false	4.8~5.2
G2	15	230400	5	0.28~16	5~12	true(8)	false	4.8~5.2
G2C	16	115200	4	0.1~12	5~12	false	false	4.8~5.2
G4B	17	512000	10	0.12~16	5~12	true(10)	false	4.8~5.2
G4C	18	115200	4	0.1~12	5~12	false	false	4.8~5.2
G1	19	230400	9	0.28~16	5~12	false	false	4.8~5.2
G5	20	230400	9/8/4	0.28/0.26/0.1~16	5~12	false	false	4.8~5.2
G7	21	512000	18/16/8	0.28/0.26/0.1~25	5~12	false	false	4.8~5.2
TX8	100	115200	4	0.05~8	4~8(PWM)	false	true	4.8~5.2
TX20	100	115200	4	0.05~20	4~8(PWM)	false	true	4.8~5.2
TG15	100	512000	20/18/10	0.05~30	3~16	false	false	4.8~5.2
TG30	101	512000	20/18/10	0.05~30	3~16	false	false	4.8~5.2
TG50	102	512000	20/18/10	0.05~50	3~16	false	false	4.8~5.2
T15	200	8000	20	0.05~30	5~35	true	false	4.8~5.2

Baudrate Table

LiDAR	baudrate
F4/S2/X2/X2L/S4/TX8/TX20/G4C	115200
X4	128000
S4B	153600
G1/G2/R2/G4/G5/G4PRO/F4PRO	230400
G6/G7/TG15/TG30/TG50	512000
T5/T15	8000 (network port)

SingleChannel Table

LiDAR	isSingleChannel
G1/G2/G4/G5/G6/G7/F4/F4PRO/S4/S4B/X4/R2/G4C	false
S2/X2/X2L	true
TG15/TG30/TG50	false
TX8/TX20	true
T5/T15	false (optional)

LidarType Table

LiDAR	lidar_type
G1/G2/G4/G5/G6/G7/F4/F4PRO/S4/S4B/X4/R2/G4C/S2/X2/X2L	TYPE_TRIANGLE
TG15/TG30/TG50/TX8/TX20	TYPE_TOF
T5/T15	TYPE_TOF_NET

DeviceType Table

LiDAR	lidar_type
G1/G2/G4/G5/G6/G7/F4/F4PRO/S4/S4B/X4/R2/G4C/S2/X2/X2L	YDLIDAR_TYPE_SERIAL
TG15/TG30/TG50/TX8/TX20	YDLIDAR_TYPE_SERIAL
T5/T15	YDLIDAR_TYPE_TCP

Sampling Rate Table

LiDAR	sample_rate
G4/G5/F4	4,8,9
F4PRO	4,6
G6/G7	8,16,18
G2/R2/X4	5
G1	9
S4/S4B/G4C/TX8/TX20	4
S2	3
TG15/TG30/TG50	10,18,20
T5/T15	20

Frequency Table

LiDAR	frequency
G1/G2/R2/G6/G7/G4/G5/G4PRO/F4/F4PRO	5-12Hz
S4/S4B/S2/TX8/TX20/X4	Not Support
TG15/TG30/TG50	3-16Hz
T5/T15	5-35Hz

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

Reversion Table

LiDAR	reversion
G1/G2/G2A/G2C/F4/F4PRO/R2	true
G4/G5/G4PRO/G4B/G4C/G6/G7	true
TG15/TG30/TG50	true
T5/T15	true
S2/X2/X2L/X4/S4/S4B	false
TX8/TX20	false

Intensity Table

LiDAR	intensity
S4B/G2/G4B	true
G4/G5/G4C/G4PRO/F4/F4PRO/G6/G7	false
G1/G2A/G2C/R2	false
S2/X2/X2L/X4	false
TG15/TG30/TG50	false
TX8/TX20	false
T5/T15	true
	false

DTR Support Table

LiDAR	support_motor_dtr
S4/S4B/S2/X2/X2L/X4	true
TX8/TX20	true
G4/G5/G4C/G4PRO/F4/F4PRO/G6/G7	false
G1/G2A/G2C/R2/G2/G4B	false
TG15/TG30/TG50	false
T5/T15	false