# How to set URDF for new rplidar?

**URL:** <https://forum.ubiquityrobotics.com/t/how-to-set-urdf-for-new-rplidar/886>\
**Category:** Uncategorized\
**Created:** [September 10, 2021, 1:11pm UTC](https://forum.ubiquityrobotics.com/t/how-to-set-urdf-for-new-rplidar/886 "2021-09-10T13:11:18Z")\
**Posts on this page:** 2\
**Page:** 1

<div class="post-metadata">

**Author:** ![tiho\_bg](https://forum.ubiquityrobotics.com/letter_avatar_proxy/v4/letter/t/ea666f/32.png) [@tiho\_bg](https://forum.ubiquityrobotics.com/u/tiho_bg)\
**Post date:** [September 10, 2021, 1:11pm UTC](https://forum.ubiquityrobotics.com/t/how-to-set-urdf-for-new-rplidar/886/1 "2021-09-10T13:11:18Z")

</div>

I would like to ask how to set URDF for new rplidar\_a3. The red line of the laser scanner doesn’t fit with the map created before. It’s moving all the time. Please, help!

 ![laser7](https://frm.ubiquityrobotics.com/uploads/default/original/1X/8d447565da4423bf7efa9ab285b16ee908fbcc49.png)

---

<div class="post-metadata">

**Author:** ![mjstn2011](https://forum.ubiquityrobotics.com/user_avatar/forum.ubiquityrobotics.com/mjstn2011/32/30_2.png) [@mjstn2011](https://forum.ubiquityrobotics.com/u/mjstn2011)\
**Post date:** [September 10, 2021, 11:57pm UTC](https://forum.ubiquityrobotics.com/t/how-to-set-urdf-for-new-rplidar/886/2 "2021-09-10T23:57:06Z")

</div>

If you are using my magni\_lidar launch files then those files get the pose of the lidar right in the launch files and thus not from the URDF file.

For example see and read the comments I have in this which is one of the launch files:

> <https://github.com/UbiquityRobotics/demos/blob/master/magni_lidar/launch/magni_lidar_mapmaker.launch>