Running from our repo directly?
If you cloned our repo and followed the build steps, skip to arcpro run commands
Port issues
Note that some ports in these docs may have been manually defined, and as such should be accounted for with lsbusb
Setting up YDLidar X4 Pro and 435i realsense
Realsense
sudo apt update
sudo apt install -y v4l-utils \ ros-jazzy-librealsense2=2.56.4-1noble.20250722.140707 \ ros-jazzy-realsense2-camera=4.56.4-1noble.20250814.083109 \ ros-jazzy-realsense2-camera-msgs=4.56.4-1noble.20250806.110923
# Ensure permissions for the camera
sudo udevadm control --reload-rules && sudo udevadm trigger
sudo usermod -aG video $USER Then the realsense should be runnable via:
ros2 launch realsense2_camera rs_launch.pyYdLidar X4 Pro
Build the SDK
git clone git@github.com:YDLIDAR/ydlidar_ros2_driver.git Then go through these docs here and run dependent on OS or follow below. It should bringup rivz automatically and run the expected laser scan.
git clone https://github.com/YDLIDAR/YDLidar-SDK.git
cd YDLidar-SDK
mkdir build
cd build
cmake ..
make
sudo make install
cpack #put into package
./tri_test #test Build the Ros repo
Run below, will grab the SDK and the ros2 code.
git clone git@github.com:YDLIDAR/YDLidar-SDK.gitNext steps: Pairing