Install the ros2 package for the YDLIDAR X4 from https://github.com/YDLIDAR/ydlidar_ros2_driver and configure it for our lidar. Its state should be toggleable by the /stop_scan and /start_scan topics, and the resulting 2D point cloud is published on /scan.
Since we want our robot to be aware of its surroundings, we'll be using one of the publically available ros2 SLAM packages, probably slam_toolbox since it seems to be the best one at the moment. Have a read here: https://github.com/SteveMacenski/slam_toolbox
Install the ros2 package for the YDLIDAR X4 from https://github.com/YDLIDAR/ydlidar_ros2_driver and configure it for our lidar. Its state should be toggleable by the /stop_scan and /start_scan topics, and the resulting 2D point cloud is published on /scan.
Since we want our robot to be aware of its surroundings, we'll be using one of the publically available ros2 SLAM packages, probably slam_toolbox since it seems to be the best one at the moment. Have a read here: https://github.com/SteveMacenski/slam_toolbox