ydlidar.yaml

lidar1:
  ydlidar_ros2_driver_node:
    ros__parameters:
      port: /dev/ttyUSB_LIDAR_G2_1
      frame_id: lidar1_link
      topic: scan
      ignore_array: ""
      baudrate: 230400
      lidar_type: 1
      device_type: 0
      sample_rate: 5
      abnormal_check_count: 4
      fixed_resolution: true
      reversion: true
      inverted: true
      auto_reconnect: true
      isSingleChannel: false
      intensity: true
      support_motor_dtr: false
      angle_max: 60.0
      angle_min: -210.0
      range_max: 16.0
      range_min: 0.12
      frequency: 10.0
      invalid_range_is_inf: false
      scaling_factor: 1.0
      intercept_factor: 0.0

lidar2:
  ydlidar_ros2_driver_node:
    ros__parameters:
      port: /dev/ttyUSB_LIDAR_G2_2
      frame_id: lidar2_link
      topic: scan
      ignore_array: ""
      baudrate: 230400
      lidar_type: 1
      device_type: 0
      sample_rate: 5
      abnormal_check_count: 4
      fixed_resolution: true
      reversion: true
      inverted: true
      auto_reconnect: true
      isSingleChannel: false
      intensity: true
      support_motor_dtr: false
      angle_max: 180.0
      angle_min: -90.0
      range_max: 16.0
      range_min: 0.12
      frequency: 10.0
      invalid_range_is_inf: false
      scaling_factor: 1.0
      intercept_factor: 0.0