Scan

YDLidar-SDK https://github.com/YDLIDAR/YDLidar-SDK

YDLIDAR ROS Driver https://github.com/YDLIDAR/ydlidar_ros_driver

update X2.launch file

cd ~/ydlidar_ws/src/ydlidar_ros_driver/launch/X2.launch

<param name="angle_min"    type="double" value="-180" />
<param name="angle_max"    type="double" value="180" />

args="0.0 0.0 0.2 0.0 0.0 0.0 /laser_frame /base_footprint  40" />

To follwoing:

<param name="angle_min"    type="double" value="5" />
<param name="angle_max"    type="double" value="175" />

args="0.0 0.0 0.2 1.57 0.0 0.0 /laser_frame /base_footprint  40" />

update ydlidar_ws/src/ydlidar_ros_driver/launch/lidar.rviz

Fixed Frame: base_footprint

run the code

roslaunch ydlidar_ros_driver lidar_view.launch

roslaunch ydlidar_ros_driver X2.launch