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안녕하세요.

아이디어 로봇입니다.

ROS1의 경우 파라미터 파일이 따로 있지 않고 launch파일 내부에 파라미터가 있습니다.
해당부분을 X4 PRO에 맞게 수정해 주세요.
stella/ydlidar_ros/launch/stella_lds.launch

항상 빠른 답변 감사합니다. ㅠㅠ

죄송합니다. 설정이 이렇게 되어 있는데요 X4용인것 같습니다. 죄송합니다. X4PRO용 설정이 있을까요?

test@test-ROS1:~/catkin_ws/src/STELLA_N1_PI_X4_ROS1_v2.0/stella/ydlidar_ros/launch$ vi .
<launch>
  <node name="ydlidar_node"  pkg="ydlidar"  type="ydlidar_node" output="screen">
    <param name="port"        type="string" value="/dev/YDLIDAR"/>
    <param name="baudrate"    type="int"    value="115200"/>
    <param name="frame_id"    type="string" value="laser_frame"/>
    <param name="angle_fixed"  type="bool"  value="true"/>
    <param name="low_exposure"  type="bool"  value="false"/>
    <param name="heartbeat"    type="bool"  value="false"/>
    <param name="resolution_fixed"    type="bool"  value="true"/>
    <param name="angle_min"    type="double" value="-180" />
    <param name="angle_max"    type="double" value="180" />
    <param name="range_min"    type="double" value="0.08" />
    <param name="range_max"    type="double" value="16.0" />
    <param name="ignore_array" type="string" value="" />
    <param name="samp_rate"    type="int"    value="9"/>
    <param name="frequency"    type="double" value="7"/>
  </node>
  <node pkg="tf" type="static_transform_publisher" name="base_link_to_laser4"
    args="0.145 0.0 0.229 3.14 0.0 0.0 /base_footprint /laser_frame 40" />
</launch>

아래 링크의 파리미터 파일을 참고하여 수정하여 주시면 될 것 같습니다.
https://github.com/ntrexlab/STELLA_N1_PI_X4_PRO_ROS2_v2.0/blob/Humble/stella/ydlidar_ros/params/ydlidar.yaml
https://github.com/YDLIDAR/ydlidar_ros2_driver/blob/master/params/X4-Pro.yaml

ㅠㅠ 말씀하신대로 했는데 여전히 에러가;;;발생하네요

started roslaunch server http://localhost:41093/

SUMMARY
========

PARAMETERS
 * /rosdistro: melodic
 * /rosversion: 1.14.13
 * /ydlidar_node/angle_max: 180.0
 * /ydlidar_node/angle_min: -180.0
 * /ydlidar_node/auto_reconnect: True
 * /ydlidar_node/baudrate: 128000
 * /ydlidar_node/frame_id: base_scan
 * /ydlidar_node/frequency: 10.0
 * /ydlidar_node/ignore_array:
 * /ydlidar_node/isToFLidar: False
 * /ydlidar_node/max_range: 12.0
 * /ydlidar_node/min_range: 0.1
 * /ydlidar_node/port: /dev/YDLIDAR
 * /ydlidar_node/resolution_fixed: True
 * /ydlidar_node/reversion: True
 * /ydlidar_node/samp_rate: 5
 * /ydlidar_node/singleChannel: True

NODES
  /
    base_link_to_laser4 (tf/static_transform_publisher)
    stella_ahrs_node (stella_ahrs/stella_ahrs_node)
    stella_md_node (stella_md/stella_md_node)
    ydlidar_node (ydlidar/ydlidar_node)

auto-starting new master
process[master]: started with pid [15241]
ROS_MASTER_URI=http://localhost:11311

setting /run_id to 0a44a684-2313-11ef-b94e-588694f76905
process[rosout-1]: started with pid [15252]
started core service [/rosout]
process[stella_md_node-2]: started with pid [15255]
process[stella_ahrs_node-3]: started with pid [15260]
process[ydlidar_node-4]: started with pid [15261]

PortName : /dev/AHRS Connect OK

process[base_link_to_laser4-5]: started with pid [15262]
[YDLIDAR INFO] Current ROS Driver Version: 1.3.1
[YDLIDAR INFO] Current SDK Version: 1.3.2
;|-connect


[  MotorControlProductInfomaions  ]

device_id : 1
prouct_id : 102
software_version  : 1.09
hardware_version  : 1.00
RS232_Baudrate    : 115200
USB_Baudrate      : 115200
CAN_Bitlate        : 1000


[  Motor_Configuration  ]

min_position      --->  Motor1 :  -1000000                    , Motor2 :  -1000000
max_position      --->  Motor1 :    1000000                    , Motor2 :    1000000

encoder_ppr        --->  Motor1 :      2000                    , Motor2 :      2000
Acceleration      --->  Motor1 :  3000.0000                    , Motor2 :  3000.0000
Deceleration      --->  Motor1 :  3000.0000                    , Motor2 :  3000.0000

Max_current        --->  Motor1 :    2.3000                    , Motor2 :    2.3000
Max_voltage        --->  Motor1 :    20.0000                    , Motor2 :    20.0000
Max_velocity      --->  Motor1 :  3000.0000                    , Motor2 :  3000.0000
overvoltage_limit  --->  Motor1 :    30.0000                    , Motor2 :    30.0000
undervoltage_limit --->  Motor1 :    9.0000                    , Motor2 :    9.0000
overcurrent_limit  --->  Motor1 :    3.0000                    , Motor2 :    3.0000
direction          --->  Motor1 : Reverse_Direction            , Motor2 : Not_Change
velocity_p_gain    --->  Motor1 :    3.3000                    , Motor2 :    3.3000
velocity_i_gain    --->  Motor1 :    0.0600                    , Motor2 :    0.0600

wheel_radius      : 0.087500
axle_length        : 0.330000
gear_ratio        : 27.000000

---------------------------------------------------------------------------------------------------------

[MotorDriver INFO] PortName : /dev/MW Connect OK

[MotorDriver INFO] NTREX MotorDriver RUN ....


[MotorDriver INFO] Stella Robot Setting OK

[AHRS INFO] AHRS_Calibration OK ....

;|-connect
[AHRS INFO] AHRS_Euler_RESET OK ....

[AHRS INFO] ACC, GYR, DEG, MAG / 10ms / binary
[AHRS INFO] RUN ....

;|-connect
;|-connect
[ERROR] [1717575031.606861908]: ;|Error, cannot retrieve YDLIDAR health code: ffffffff
[ERROR] [1717575033.607110857]: YDLIDAR get DeviceInfo Error

[ERROR] [1717575033.607133409]: [YDLIDAR ERROR] Unsupported lidar

[ydlidar_node-4] process has died [pid 15261, exit code 255, cmd /home/test/catkin_ws/devel/lib/ydlidar/ydlidar_node __name:=ydlidar_node __log:=/home/test/.ros/log/0a44a684-2313-11ef-b94e-588694f76905/ydlidar_node-4.log].
log file: /home/test/.ros/log/0a44a684-2313-11ef-b94e-588694f76905/ydlidar_node-4*.log

이렇게 입력하였습니다 .
test@test-ROS1:~/catkin_ws/src/STELLA_N1_PI_X4_ROS1_v2.0/stella/ydlidar_ros/launch$ cat stella_lds.launch
<launch>
  <node name="ydlidar_node"  pkg="ydlidar"  type="ydlidar_node" output="screen">
    <param name="port"        type="string" value="/dev/YDLIDAR"/>
    <param name="frame_id"    type="string" value="base_scan"/>
    <param name="ignore_array" type="string" value="" />
    <param name="baudrate"    type="int"    value="128000"/>
    <param name="samp_rate"    type="int"    value="5"/>
    <param name="resolution_fixed"      type="bool"    value="true"/>
    <param name="singleChannel"        type="bool"    value="true"/>
    <param name="auto_reconnect"        type="bool"    value="true"/>
    <param name="reversion"            type="bool"    value="true"/>
    <param name="isToFLidar"            type="bool"    value="false"/>
    <param name="angle_max"    type="double" value="180" />
    <param name="angle_min"    type="double" value="-180" />
    <param name="max_range"    type="double" value="12.0" />
    <param name="min_range"    type="double" value="0.1" />
    <param name="frequency"    type="double" value="10.0"/>
  </node>
  <node pkg="tf" type="static_transform_publisher" name="base_link_to_laser4"
    args="0.145 0.0 0.229 3.14 0.0 0.0 /base_footprint /laser_frame 40" />
</launch>

파라미터 수정 후에도 문제가 발생하는 경우
아래 블로그를 따라 YDLIDAR를 다시 설치하여 주세요.

https://blog.naver.com/idea_robot/223202817620

https://blog.naver.com/idea_robot/223202817620 으로 하니 RUN상태 되었습니다.
정말 감사합니다. ㅠㅠ