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Package Summary

Released Continuous integration Documented

ROS package for LDS(HLS-LFCD2). The LDS (Laser Distance Sensor) is a sensor sending the data to Host for the simultaneous localization and mapping (SLAM). Simultaneously the detecting obstacle data can also be sent to Host. HLDS(Hitachi-LG Data Storage) is developing the technology for the moving platform sensor such as Robot Vacuum Cleaners, Home Robot, Robotics Lawn Mower Sensor, etc.

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ROS Packages Maintainer: ROBOTIS

Overview

The hls_lfcd_lds_driver package is a driver for "HLS LFCD LDS(Laser Distance Sensor)". LDS is a sensor sending the data to Host for the simultaneous localization and mapping (SLAM). Simultaneously the detecting obstacle data can also be sent to Host.

LDS.png

Use cases

The HLS-LFCD LDS is used for the TurtleBot3 basic model.

turtlebot3_models.png

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.

Documents

Basic Performance Specification

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 Specification

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 attachments include the contents like basic performance, measurement performance, mechanism layout, optical path, data information, pin description, command.

Basic Specification

User's Guide

Install

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

Setting the permissions of HLS-LFCD LDS

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

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2017-10-21 12:43