> ## Documentation Index
> Fetch the complete documentation index at: https://docs.mrdvs.cn/llms.txt
> Use this file to discover all available pages before exploring further.

# V2 使用外部激光协议

> 配置 V2 定位模块接收外部激光数据，并检查 ROS1 与 ROS2 的激光话题。

## 通用配置

在本体中设置定位激光为UDP格式

```text theme={null}
LxCamera_UploadScan: "/sim/scan"
```

## ROS1 激光发布

```text theme={null}
fr1511b@fr1511b-KPL-W0X:~/HZ_V2ROS_NEW/V2-ROS-SDK-service$ rostopic info /sim/scan

Type: sensor_msgs/LaserScan

Publishers: None

Subscribers:

* /lx_localization_node (http://fr1511b-KPL-W0X:41595/)
```

## ROS2 激光发布

```text theme={null}
fr1511b@MRDVS:~/ros2_ws/lx_camera_ros$ ros2 topic info /sim/scan

Type: sensor_msgs/msg/LaserScan

Publisher count: 0

Subscription count: 1
```