# Enable basic RPLIDAR handling with `rplidar-ros` The rplidar-ros2 sample application provides basic device handling for the 2D laser scanner RPLIDAR A1/A2/A3/S1/S2/S3. ## Pipeline flow for `rplidar_ros` The figure shows the pipeline flow for the rplidar-ros2 sample. The sample gets the driver data from rplidar SDK, and then publishes the `/scan` topic. 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) **`rplidar_ros` pipeline** ## ROS topics used in the rplidar-ros2 pipeline ROS topics used in the rplidar-ros2 pipeline | ROS topic | Type | Published by | | --- | --- | --- | | `/scan` | `` | rplidar-ros2 node | ## Prerequisites - You have set up the device, installed ROS2 Jazzy and QIR SDK on the device according to [Install the QIR SDK](https://docs.qualcomm.com/doc/80-90441-2/topic/2-install-the-qir-sdk.html#install-qir-sdk). - Connect the power supply and USB port of RPLIDAR A3M1. ## Run out-of-the-box rplidar-ros2 **Steps** 1. Launch lidar ROS node. source /opt/ros/jazzy/setup.bash ros2 launch rplidar_ros rplidar_a3_launch.py Copy to clipboard 2. Get the topic of this node. source /opt/ros/jazzy/setup.bash ros2 topic list Copy to clipboard 3. You can echo scan in another terminal. source /opt/ros/jazzy/setup.bash ros2 topic echo /scan Copy to clipboard 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) Last Published: Sep 07, 2026 [Previous Topic Enable Orbbec Gemini 335L with orbbec\_camera](https://docs.qualcomm.com/bundle/publicresource/80-90441-2/topics/enable-orbbec-gemini-335l-with-orbbec-camera.md) [Next Topic Publish system status with qrb\_ros\_system\_monitor](https://docs.qualcomm.com/bundle/publicresource/80-90441-2/topics/publish-system-status-with-qrb-ros-system-monitor.md)