LDS/LiDAR Library for Arduino

Laser distance scan sensor (LDS/LIDAR) Arduino wrapper/controller for kaia.ai home robot software platform. Please read this blog post for more details.

This library supports:

• YDLIDAR X4, X3, X3-PRO, X2/X2L models
• SLAMTEC RPLIDAR A1
• Neato XV11/Botvac
• Xiaomi Roborock Mi 1st gen LDS02RR
• 3drobotix Delta-2A, Delta-2B, Delta-2G, Delta-2A 115000 baud
• LDROBOT LD14P

Other models are in the works.

Video: Neato XV11 runs on Arduino, ROS2

Video: Xiaomi Mi 1st gen LDS02RR runs on Arduino, ROS2

Video: SLAMTEC RPLIDAR A1 runs on Arduino, ROS2

Video: YDLIDAR X3 PRO runs on Arduino, ROS2

Video: LDROBOT LD14P runs on Arduino, ROS2

Connecting to Arduino

Please follow this tutorial to connect LDROBOT LD14P to Arduino ESP32.

Adapter Boards

Some LiDAR/LDS models do not have built-in motor control and therefore require an additional board to operate:

• for Xiaomi Roborock 1st gen LDS02RR use this board
• for Neato XV11 use this board
• for 3irobotix Delta-2A, -2B, -2C PRO, -2D, -2G use this board

Performance Notes

• currently Delta-2A, -2B, -2G exhibit mysterioius fixed pattern noise
  • I'm sure it can be fixed, but so far I haven't heard back from 3irobotix support.

Release notes

v0.5.3 - in debug

• added Delta-2A 230400 baud
• added Delta-2B

v0.5.3

• Camsense X1

v0.5.2

• added LDROBOT LD14P

v0.5.1

• bugfix lds_all_models.h include file

v0.5.0

• added Delta-2A, Delta-2G

v0.4.0

• added Neato XV11
• added RPLIDAR A1
• added YDLIDAR X3, X3 PRO
• report scan RPM for all sensor models

v0.3.1

• added YDLIDAR X2/X2L
• measure RPM for YDLIDAR X4, YDLIDAR X2/X2L

v0.3.0

• virtual class methods
• ESP32 crash workaround by moving init code from constructor out to init()

v0.2.0

• example bugfix
• renamed classes

v0.1.0

• initial release

TODO

• add Xiaomi Roborock LDS01RR
• add LDROBOT LD20
• add Hitachi-LG HLS-LFCD2
• add Dreame TBD
• reduce raw data volume
  • omit measurement quality since it usually does not get used