LDS-01

Overview

• 360 Laser Distance Sensor LDS-01 is a 2D laser scanner capable of sensing 360 degrees that collects a set of data around the robot to use for SLAM (Simultaneous Localization and Mapping) and Navigation.
• The LDS-01 is used for TurtleBot3 Burger, Waffle and Waffle Pi models.
• It supports USB interface(USB2LDS) and is easy to install on a PC.
• It supports UART interface for embedded baord.

Introduction Video

• How to use the LDS-01

• Laser Distance Sensor (LDS) Example.

• ROS Hector SLAM demo using only a 360 Laser Distance Sensor LDS-01 made by HLDS (Hitachi-LG Data Storage).

• ROS Gmapping and Cartographer SLAM demo using TurtleBot3 and 360 Laser Distance Sensor LDS-01.

Specifications

General Specifications

Measurement Performance Specifications

Detail Specification Document

The following link contains information about basic performance, measurement performance, mechanism layout, optical path, data information, pin description and commands.

Here is the detail specification document : PDF

NOTE: The 360 Laser Distance Sensor LDS-01 for TurtleBot3 uses molex 51021-0800 and 53048-0810 instead of the basic housing and connector.

• [Connector for LDS] Molex 51021-0800
• [Connector for USB2LDS] Molex 53048-0810

LDS for TurtleBot3

The LDS-01 is used for TurtleBot3 Burger, Waffle and Waffle Pi models.

User Guide (for ROS)

We are offering ROS package for LSD. The hls_lfcd_lds_driver package provides a driver for HLS(Hitachi-LG Sensor) LFCD LDS(Laser Distance Sensor).

NOTE: Due to firmware update (after buy it on Oct. 2017), the sensor is running directly when power in on.

Installation

$ sudo apt-get install ros-kinetic-hls-lfcd-lds-driver

Set Permission for LDS-01

$ sudo chmod a+rw /dev/ttyUSB0

Run hlds_laser_publisher Node

$ roslaunch hls_lfcd_lds_driver hlds_laser.launch

Run hlds_laser_publisher Node with RViz

$ roslaunch hls_lfcd_lds_driver view_hlds_laser.launch

User Guide (for Driver)

• In addition to ROS, the LDS-01 supports Windows, Linux, and MacOS development environments for general purposes.
• The software requirement is:
  • GCC (for Linux and macOS), MinGW (for Windows)
  • Boost library (Lib for boost system, tested on v1.66.0)

Download

• Download the LDS-01’s driver

$ git clone https://github.com/ROBOTIS-GIT/hls_lfcd_lds_driver.git

• Or you can download directly on web browser at github repository below:
  • https://github.com/ROBOTIS-GIT/hls_lfcd_lds_driver
• Install dependent software and libraries for each development environment
  • GCC (for Linux and macOS), MinGW (for Windows)
  • Boost library

Build

• The makefile used here is set for Linux. Windows and macOS should be changed according to their development environment.

$ cd hls_lfcd_lds_driver/applications/lds_driver/
$ make

Run

• You can see the raw data in the terminal when you run the driver of LDS-01. Please check the source code for details.

$ ./lds_driver
r[359]=0.438000,r[358]=0.385000,r[357]=0.379000,...

User Guide (for GUI)

• We provide a basic GUI tool for visually checking the data of the LDS-01.
• It supports Linux, Windows, and macOS.
• The software requirement is:
  • Qt Creator and Libs (tested on Qt Creator v4.5.0 and Qt Libs v5.10.0)
  • GCC (for Linux and macOS), MinGW (for Windows), This can be installed together while installing Qt.
  • Boost library (Lib for boost system, tested on v1.66.0)

Download

• Download the LDS-01’s driver and GUI source code.

$ git clone https://github.com/ROBOTIS-GIT/hls_lfcd_lds_driver.git

• Or you can download directly on web browser at github repository below:
  • https://github.com/ROBOTIS-GIT/hls_lfcd_lds_driver
• Install dependent software and libraries for each development environment
  • Qt - Open Source Version
  • GCC (for Linux and macOS), MinGW (for Windows)
  • Boost library

Build

• Run the Qt Creator
• Open file (Ctrl-O) the lds_polar_graph.pro file (hls_lfcd_lds_driver/applications/lds_polar_graph/lds_polar_graph.pro)
• Change the input your portname of source code
• Build all (Ctrl-Shift-B)

Run

• Run the application (Ctrl-R)

User Guide (for Embedded Board)

• We provide a way to connect to an embedded board.
• The data of the LDS-01 can be used on the embedded board like OpenCR and Arduino. Please refer to below instructions.

Preparations

• The LDS-01 in TurtleBot3 package comes with the interface board, but you can also connect the sensor to the power and UART pins of embedded boards.

WARNNING : The wiring colours of LDS-01 could differ from the picture by manaufacturers.

• OpenCR develops and downloads firmware through the Arduino IDE. Therefore, you must install the Arduino IDE in advance and install the OpenCR board package. Install through the following link document.

  • Install Arduino IDE and OpenCR

Download firmware and run

1. After connecting USB to PC, select Tools -> Board -> OpenCR Board in Arduino IDE.
2. Change Tools-> Port to the port to which the board is connected.
3. In the Arduino IDE Examples, select the firmware for LDS (File -> Examples -> OpenCR -> Etc -> LDS -> drawLDS).
4. Click Upload icon in the Arduino IDE that displays the red circle to build and download the firmware. When the download is completed, the firmware is automatically executed.

Certifications

Please inquire us for information regarding unlisted certifications.

FCC

WARNING
Any changes or modifications not expressly approved by the manufacturer could void the user’s authority to operate the equipment.