How do i get my arduino mega to parse data to hls_lfcd_lds_driver? (Without USB2LDS) SOLVED

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Greetings! I have a HLS-LFCD2 Lidar connected through serial to an Arduino Mega (230400 baud rate), and i'm able to receive data from it and even tell it to start and stop (sending a "b" and an "e" respectively). But i dont know exactly how do i need to parse that data to make it talk to the hls_lfcd_lds_driver.

I tried doing a simple serial passthrough, and when i launch view_hlds_laser.launch , it spins but i cant see any data in rviz. The reference frame laser cannot be accessed by rviz.

On the arduino, i was able to run the drawLDS example, and i got all the points correctly. I just need to know how to send that data to ROS.

Is there any ROS lidar drivers that only need the angle and the distance data?

Here are some useful links The sensor information with datasheet: http://emanual.robotis.com/docs/en/pl... The example i ran on the Arduino Mega: https://youtu.be/7wKyW6yLNSg Lidar Datasheet: http://emanual.robotis.com/assets/doc...

SOLUTION: If you don't have an adapter, look for the Specification Document PDF on the link above. Then, by looking at the pinout for the sensor, hook it up to your arduino. Just don't forget to step down the 5v of the TX pin of the arduino. You'll basically need a passthrough code, to get the serial data from the LIDAR and send it straight to the USB Serial at 230400 BAUD rate.

Something like this should work:

void setup() {
  Serial.begin(230400);
  Serial1.begin(230400);
}

void loop() {
  if (Serial.available()) {      // If anything comes in Serial (USB),
    Serial1.write(Serial.read());   // read it and send it out Serial1 (pins 0 & 1)
  }

  if (Serial1.available()) {     // If anything comes in Serial1 (pins 0 & 1)
    Serial.write(Serial1.read());   // read it and send it out Serial (USB)
  }
}

Notice that this sketch uses two Serial ports. Serial 0 (USB Serial) and Serial port 1 (Normally labelled TX1RX1 on the arduino pins). If you don't know how this works, look for Serial Ports on the Arduino wiki page.