robonix.primitive.deep_robotics.lynx_s10.lidar

primitive package v0.1.0

Lynx S10 3D lidar primitive — exposes the S10 native PointCloud2 stream.

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  • capability robonix/primitive/lidar/lidar3d declares no transport (mcp, grpc or ros2)
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README primitive-deep_robotics-lynx_s10-lidar-rbnx@main

primitive-lynx_lidar

Robonix 3D lidar primitive for the DeepRobotics Lynx S10 ("山猫"). The S10 has two RoboSense Airy lidars driven by rslidar_sdk (~/rslidar_ws) on the NX, publishing standard sensor_msgs/PointCloud2:

topic frame notes
/airy_201/points airy_201 front lidar — VERTICAL scan (pitched +90°) (default source)
/airy_202/points airy_202 back lidar — HORIZONTAL 360° scan
/LIDAR/POINTS — robot LIO-fused cloud (only when perception stack runs)

Exposed Robonix capability: robonix/primitive/lidar/lidar3d (one lidar, configurable).

Build & run

rbnx codegen -p . --mcp
bash scripts/start.sh

scripts/start.sh sources ~/rslidar_ws, publishes the base_link -> airy_201 (front, pitched) static TF from the S10 URDF, launches rslidar_sdk_node, then runs the primitive; the driver and TF publisher are torn down with the primitive. Override the workspace with RSLIDAR_WS=/path/to/ws if it is not under ~/rslidar_ws.

See CAPABILITY.md. The rslidar topics have no flowing data until the lidar is powered and returning UDP; the primitive stays Deferred until then.