If you want the original ros2 lslidar_c16 driver, please go to the official repo foxy branch of lslidar_c16
If you want the safty-critial version of lidar driver, I recommend this repo for lslidar_c16.
The methodology of this repo is based on building-safe-algorithms-in-the-open
Thanks to APEX.AI for guidline and works with velodyne, and andreaslebherz for early works with ouster.