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This page explains how to configure the V2 localization module to subscribe to an external LiDAR ROS laser topic.
The external LiDAR must continuously publish sensor_msgs/LaserScan messages that match the configured topic. This page covers topic configuration and subscription checks only; it does not cover LiDAR driver installation or calibration.

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Configure the localization laser topic

Set the localization laser input to UDP in the body configuration and specify the LaserScan topic:
Configure the external LiDAR to publish on the same topic, or change the value above to match the actual topic.

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Verify the ROS topic

Confirm that the V2 localization node subscribes to the topic and that its message type is LaserScan.
The output should show sensor_msgs/LaserScan and include /lx_localization_node in the subscriber list.
If the subscription count is 0, check the topic name, ROS domain configuration, and localization node status. If the publisher count is 0, check the external LiDAR driver.