19. Appendix #LDS

_images/lds.png

19.1. Overview

HLS-LFCD LDS is used for both TurtleBot3 Burger and TurtleBot3 Waffle. The LDS(LASER Distance Sensor) is a sensor which collects a set of distance data and send them to the host for the Simultaneous Localization and Mapping (SLAM) technique.


19.2. Specifications

19.2.1. 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

19.2.2. 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

19.3. 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 LDS for TurtleBot3 uses molex 51021-0800 and 53048-0810 instead of the basic housing and connector.

19.4. LDS for TurtleBot3

The HLS-LFCD LDS is used for both TurtleBot3 Burger and TurtleBot3 Waffle.

_images/turtlebot3_models.png

19.5. Introduction Video

ROS Hector SLAM demo using only a HLS-LFCD LDS made by HLDS (Hitachi-LG Data Storage).


ROS Gmapping and Cartographer SLAM demo using TurtleBot3 and the HLS-LFCD LDS.


19.6. User guide

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)”.

19.6.1. Installation

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

19.6.2. Set Permission for HLS-LFCD LDS

sudo chmod a+rw /dev/ttyUSB0

19.6.3. Run hlds_laser_publisher Node

roslaunch hls_lfcd_lds_driver hlds_laser.launch

19.6.4. Run hlds_laser_publisher Node with RViz

roslaunch hls_lfcd_lds_driver view_hlds_laser.launch