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

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

Contents
1. Specification
2. ROS
3. Windows, Linux, macOS
4. Embedded Board
5. SLAM and Navigation
6. Self-Parking
7. 3D Sensing
8. for Makers

[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	1°

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, and it can be confirmed on the LCD as a graph like below.

Preparations

It does not provide a dedicated interface board, but you can connect it to the power and UART of the embedded board as shown below. a

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

After connecting USB to PC, select Tools -> Board -> OpenCR Board in Arduino IDE.
Change Tools-> Port to the port to which the board is connected.
In the Arduino IDE Examples, select the firmware for LDS (File -> Examples -> OpenCR -> Etc -> LDS -> drawLDS).
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.