WayPonDEV FHL-LD19 360 Degree 2D Lidar Distance Sensor Kit, 10Hz Scan Rate and 12m Distance Lidar Scanner Module for Smart Obstacle/Robot/Maker Education Indoor/Outdoor

working well with ros2 humble on ubuntu 22.04.5 so far, just running rviz demo, but it does seem to work.

Pequeño, liviano y muy útil al momento de integrarlo a la robótica

The LD19 driver apparently calculates the number of readings in a scan in a non-conformal way and is out of spec with what the ROS2 SLAM Toolbox expects. The maintainer of SLAM toolbox has asked maintainers of LIDAR drivers to fix the calculation on their end, this is manufacturer won't respond. With the current LD19 driver, the SLAM Toolbox will discard around 70% of scans from the LD19 (see graphic below) and is largely unusable. This LD19 driver needs to be updated to always output the same number of readings in every scan and not repeat 0 degrees and 360 degrees. The output range should be [0,360) not [0,360].

I love the size of this FHL-LD19 lidar. This would be an awesome little lidar package if it worked out of the box with ROS2 SLAM package. It's small, has a decent scan rate and has decent distance. I'll have to dig deeper into the issues with SLAM and see if anyone has been able to modify the firmware. Overall, it's a neat little lidar package, unfortunately it just isn't usable with ROS2 for a robot as is.