> For the complete documentation index, see [llms.txt](https://njord.gitbook.io/digital-competition-2023/llms.txt). Markdown versions of documentation pages are available by appending `.md` to page URLs; this page is available as [Markdown](https://njord.gitbook.io/digital-competition-2023/4-platform-interface/4.3-lidar.md).

# 4.3 Lidar

The lidar data is published in ROS as a /velodyne\_points topic. To view the point cloud in rviz, remember to change the fixed frame parameter from ‘map’ to ‘velodyne’.