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LDS-01

Overview

Introduction Video

[Video #01] How to use the LDS-01

[Video #02] Laser Distance Sensor (LDS) Example.

[Video #03] ROS Hector SLAM demo using only a 360 Laser Distance Sensor LDS-01 made by HLDS (Hitachi-LG Data Storage).

[Video #04] ROS Gmapping and Cartographer SLAM demo using TurtleBot3 and 360 Laser Distance Sensor LDS-01.

Specifications

General Specifications

Items Specifications
Operating supply voltage 5V DC ±5%
Light source Semiconductor Laser Diode(λ=785nm)
LASER safety IEC60825-1 Class 1
Current consumption 400mA or less (Rush current 1A)
Detection distance 120mm ~ 3,500mm
Interface 3.3V USART (230,400 bps) 42bytes per 6 degrees, Full Duplex option
Ambient Light Resistance 10,000 lux or less
Sampling Rate 1.8kHz
Dimensions 69.5(W) X 95.5(D) X 39.5(H)mm
Mass Under 125g

Measurement Performance Specifications

Items Specifications
Distance Range 120 ~ 3,500mm
Distance Accuracy (120mm ~ 499mm) ±15mm
Distance Accuracy(500mm ~ 3,500mm) ±5.0%
Distance Precision(120mm ~ 499mm) ±10mm
Distance Precision(500mm ~ 3,500mm) ±3.5%
Scan Rate 300±10 rpm
Angular Range 360°
Angular Resolution

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.

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)

Download

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

Build

$ cd hls_lfcd_lds_driver/applications/lds_driver/
$ make

Run

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

User Guide (for GUI)

Download

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

Build

Run

User Guide (for Embedded Board)

Preparations

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.