lidar-driver

LIDAR Driver + Visualizer (Velodyne, Ouster, RPLidar)

arm64amd64

ROS 2LIDARSensors

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Overview

Primary hardware

Generic LIDARs via Ethernet/USB (arm64/amd64)

What it does

Includes common LIDAR drivers and publishes ROS 2 topics + optional RViz snapshot service.

Why it saves time

Fleet teams don’t want to rebuild for every sensor vendor; this gives a one-line deployment baseline.

Get access

Use StreamDeploy to manage OTA updates, versioned configs, and rollbacks across fleets.

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Dockerfile

ARG BASE_IMAGE
FROM ${BASE_IMAGE:-"ubuntu:22.04"}

ENV DEBIAN_FRONTEND=noninteractive \
    LANG=en_US.UTF-8 LC_ALL=en_US.UTF-8 \
    ROS_DISTRO=humble

RUN apt-get update && apt-get install -y --no-install-recommends \
    locales curl ca-certificates gnupg lsb-release \
    && locale-gen en_US.UTF-8

# ROS 2 repo + drivers
RUN mkdir -p /etc/apt/keyrings && \
    curl -sSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.asc \
    | gpg --dearmor -o /etc/apt/keyrings/ros-archive-keyring.gpg && \
    echo "deb [arch=arm64,amd64 signed-by=/etc/apt/keyrings/ros-archive-keyring.gpg] \
    http://packages.ros.org/ros2/ubuntu $(. /etc/os-release && echo $UBUNTU_CODENAME) main" \
    > /etc/apt/sources.list.d/ros2.list && \
    apt-get update && apt-get install -y --no-install-recommends \
      ros-${ROS_DISTRO}-ros-base \
      ros-${ROS_DISTRO}-velodyne \
      ros-${ROS_DISTRO}-velodyne-pointcloud \
      ros-${ROS_DISTRO}-rplidar-ros \
      ros-${ROS_DISTRO}-rviz2 \
      python3-flask \
    && rm -rf /var/lib/apt/lists/*

RUN useradd -ms /bin/bash app
USER app
WORKDIR /home/app

COPY --chown=app:app entrypoint.sh /home/app/entrypoint.sh
RUN chmod +x /home/app/entrypoint.sh

ENV LIDAR_VENDOR="velodyne" \
    DEVICE_PORT="/dev/ttyUSB0" \
    ETHERNET_IP="192.168.1.201" \
    FRAME_ID="laser" \
    SNAPSHOT_SERVER=false \
    RVIZ=false

HEALTHCHECK --interval=30s --timeout=5s --start-period=20s \
  CMD bash -lc 'ros2 topic list | grep -q "/scan" || ros2 topic list | grep -q "/points"'

ENTRYPOINT ["/home/app/entrypoint.sh"]

entrypoint.sh

#!/usr/bin/env bash
set -euo pipefail
source /opt/ros/${ROS_DISTRO}/setup.bash

case "${LIDAR_VENDOR}" in
  velodyne)
    CMD="ros2 launch velodyne_pointcloud VLP16-32c-ros2.launch.py"
    ;;
  rplidar)
    CMD="ros2 launch rplidar_ros rplidar.launch.py serial_port:=${DEVICE_PORT} frame_id:=${FRAME_ID}"
    ;;
  ouster)
    # Expect an external ouster driver (user can mount), fallback to velodyne warning
    echo "[warn] Ouster not bundled via apt; please mount driver. Attempting velodyne config as placeholder."
    CMD="bash -lc 'sleep infinity'"
    ;;
  *)
    echo "[err] Unsupported LIDAR_VENDOR=${LIDAR_VENDOR}"
    exit 1
    ;;
esac

if [[ "${RVIZ}" == "true" ]]; then
  (rviz2 -d '' 2>/dev/null || true) &
fi

if [[ "${SNAPSHOT_SERVER}" == "true" ]]; then
  python3 - <<'PY' &
from flask import Flask, jsonify
app = Flask(__name__)
@app.get("/health") 
def h(): return jsonify(ok=True)
app.run(host="0.0.0.0", port=8081)
PY
fi

exec bash -lc "${CMD}"