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LDS

★ 216 Open GitHub ↗

Arduino LiDAR library supporting YDLIDAR X2/X3/X4, RPLIDAR A1, Xiaomi LDS02RR, Neato XV11, LD14P, CAMSENSE X1, Delta-2A/2B/2G

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# LiDAR Library for Arduino
Laser distance scan sensor (LIDAR) Arduino wrapper/controller for [kaia.ai](https://kaia.ai) home robot software platform.
Please check out the [Awesome 2D LiDARs list](https://github.com/kaiaai/awesome-2d-lidars)
and read this [blog post](https://kaia.ai/blog/arduino-lidar-library/) for more details.

Please visit the [Support Forum](https://github.com/makerspet/support/discussions?discussions_q=)!

**UPDATE 2026, June 3**
- [Pythonic port](https://github.com/kaiaai/lds2d) of this library is available on PyPi.org as lds2d
- Arduino and Raspberry Pi 4/5 with LiDARs tutorials available here [https://makerspet.com/learn/]

This library supports:
- YDLIDAR X4, X4-PRO, X3, X3-PRO, X2/X2L, SCL models
- SLAMTEC RPLIDAR A1, C1
- Neato XV11/Botvac
- Xiaomi Roborock Mi 1st gen LDS02RR
- LDS08RR (aka Revo LDS used in Roborock & 3irobotix CRL-200S platform)
- 3irobotix Delta-2A, Delta-2B, Delta-2D, Delta-2G, LDS08RR, Delta-2A 115000 baud
- LDROBOT LD14P, LD19
- CAMSENSE X1

### Experimental (needs testing)
- Xiaomi Roborock LDS01RR (2nd gen, ToF) - same protocol as Neato XV11
- LDROBOT LD06 (same protocol as LD19)
- LDROBOT STL-19P / D500 (same protocol as LD19)
- Hitachi-LG HLS-LFCD2 / LDS-01 (TurtleBot3 LiDAR)
- YDLIDAR T-mini Plus / T-mini Pro (ToF)
- COIN-D4A (ToF) - ported from [QuirkyCort's MicroPython driver](https://github.com/QuirkyCort/IoTy/blob/main/public/extensions/coind4.py) ([awesome-2d-lidars#3](https://github.com/kaiaai/awesome-2d-lidars/issues/3)); not tested on hardware yet
- LDS08RR, Camsense-protocol revision - use `LDS_LDS08RR_CAMSENSE` if your unit's stream starts with 0x55 0xAA, or `LDS_LDS08RR` if it starts with 0xAA (Delta protocol). Reverse engineered from the capture in [issue #17](https://github.com/kaiaai/LDS/issues/17), thanks to Nelson (@npireso); not tested on hardware yet

![LDS_collection_labeled_v3](https://github.com/kaiaai/LDS/assets/33589365/7b6a6a6f-a27c-45de-99c9-9e60d17b4d14)

### Video: YDLIDAR SCL runs on Arduino, ROS2
<a href="http://www.youtube.com/watch?feature=player_embedded&v=7mj5hnlwmx4" target="_blank">
 <img src="http://img.youtube.com/vi/7mj5hnlwmx4/maxresdefault.jpg" alt="YDLIDAR SCL laser distance scan sensor runs on Arduino, ROS2" width="720" height="405" border="10" />
</a>

### Video: Neato XV11 runs on Arduino, ROS2
<a href="http://www.youtube.com/watch?feature=player_embedded&v=kfk1Q0RSJpI" target="_blank">
 <img src="http://img.youtube.com/vi/kfk1Q0RSJpI/maxresdefault.jpg" alt="Neato XV11 laser distance scan sensor runs on Arduino, ROS2" width="720" height="405" border="10" />
</a>

### Video: Xiaomi Mi 1st gen LDS02RR runs on Arduino, ROS2
<a href="http://www.youtube.com/watch?feature=player_embedded&v=gaDnZ4Msw0E" target="_blank">
 <img src="http://img.youtube.com/vi/gaDnZ4Msw0E/maxresdefault.jpg" alt="LDS02RR laser distance scan sensor runs on Arduino, ROS2" width="720" height="405" border="10" />
</a>

### Video: SLAMTEC RPLIDAR A1 runs on Arduino, ROS2
<a href="http://www.youtube.com/watch?feature=player_embedded&v=f8IYjfiXsMk" target="_blank">
 <img src="http://img.youtube.com/vi/f8IYjfiXsMk/maxresdefault.jpg" alt="RPLIDAR A1 laser distance scan sensor runs on Arduino, ROS2" width="720" height="405" border="10" />
</a>

### Video: YDLIDAR X3 PRO runs on Arduino, ROS2
<a href="http://www.youtube.com/watch?feature=player_embedded&v=_VuRCiO55gA" target="_blank">
 <img src="http://img.youtube.com/vi/_VuRCiO55gA/maxresdefault.jpg" alt="YDLIDAR X3 PRO laser distance scan sensor runs on Arduino, ROS2" width="720" height="405" border="10" />
</a>

### Video: LDROBOT LD14P runs on Arduino, ROS2
<a href="http://www.youtube.com/watch?feature=player_embedded&v=ebbHqs4lW0U" target="_blank">
 <img src="http://img.youtube.com/vi/ebbHqs4lW0U/maxresdefault.jpg" alt="LDROBOT LD14P LiDAR connected to Arduino, ROS2" width="720" height="405" border="10" />
</a>

### Video: CAMSENSE X1 runs on Arduino, ROS2
<a href="http://www.youtube.com/watch?feature=player_embedded&v=kNBraxYKvvI" target="_blank">
 <img src="http://img.youtube.com/vi/kNBraxYKvvI/maxresdefault.jpg" alt="CAMSENSE X1 LiDAR connected to Arduino, ROS2" width="720" height="405" border="10" />
</a>

### Video: Delta-2G runs on Arduino, ROS2
<a href="http://www.youtube.com/watch?feature=player_embedded&v=eyn5ccR_I1Y" target="_blank">
 <img src="http://img.youtube.com/vi/eyn5ccR_I1Y/maxresdefault.jpg" alt="CAMSENSE X1 LiDAR connected to Arduino, ROS2" width="720" height="405" border="10" />
</a>

## Example Code
Please see the `examples` folder for sample Arduino sketches.

## Connecting to Arduino
- Maker's Pet offers Lidar breakout boards for ESP32 for sale in its [onine store](https://makerspet.com/store/)
- follow [this DIY tutorial](https://kaia.ai/blog/tutorial-connect-ld14p-lidar/) to connect LDROBOT LD14P to Arduino ESP32

### Adapter Boards
Some LiDAR 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](https://makerspet.com/store#!/Adapter-for-LDS02RR-LiDAR/p/697091363)
- for Neato XV11 use [this board](https://github.com/makerspet/pcb/tree/main/neato_delta_adapter)
- for 3irobotix Delta-2A, -2B, -2C PRO, -2D, -2G use [this board](https://github.com/makerspet/pcb/tree/main/neato_delta_adapter)

### ESP32 Module Variants
- When using the ESP32 WROVER board, it's worth using pins 32 and 33 instead of pins 16 and 17, which are used for QSPI
- ESP32-S3 has only two UARTs, as opposed to ESP32 having 3 UARTS
  - When using the YD ESP32-S3, consider the default TX1, RX1 GPIO15 and GPIO16 pins and change the example code to `HardwareSerial LidarSerial(1);`
```
//ESP32-S3
//HardwareSerial LidarSerial(2);
HardwareSerial LidarSerial(1);
...
//LidarSerial.begin(baud_rate); // Use default GPIO TX 17, RX 16
LidarSerial.begin(baud_rate, SERIAL_8N1, 16, 15); // GPIO16 as RX1, GPIO15 as TX1
```

- ESP32-C3 has only two UARTs, as opposed to ESP32 having 3 UARTS
  - use UART1 for LiDAR and, for example, GPIO4 as RX1 and GPIO5 as TX
```
//ESP32-C3
//HardwareSerial LidarSerial(2);
HardwareSerial LidarSerial(1);
...
//LidarSerial.begin(baud_rate); // Use default GPIO TX 17, RX 16
LidarSerial.begin(baud_rate, SERIAL_8N1, 4, 5); // GPIO4 as RX1, GPIO5 as TX1
```

## Release notes

## v0.6.4
- LDROBOT LD19 supported

## v0.6.3
- major bugfix: Delta, Delta-2G LiDARs decoding

## v0.6.2
- added CAMSENSE_X1 to all-lidars example

## v0.6.1
- added an all-in-one example sketch for all supported Lidar models
  - pre-configured for LDS02RR
- bugfixed Espressif SDK 5.x (ESP32 Arduino 3.x) build
- examples cleanup

## v0.6.0
- support for Espressif SDK 5.x (ESP32 Arduino 3.x)

## v0.5.9
- added ESP32-C3 LD14P example
- added ESP32-S3 LD14P example

## v0.5.8
- LDROBOT LD14P commands
  - start, stop motor
  - set, get scan frequency

## v0.5.7
- added YDLIDAR X4-PRO

## v0.5.6
- added YDLIDAR SCL

## v0.5.5
- compilation bugfix

## v0.5.4
- added CAMSENSE X1
- example sketch fix

## v0.5.3
- 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 LDROBOT LD20
- add LDROBIT LD19P, https://github.com/Myzhar/ldrobot-lidar-ros2
- add Dreame TBD
- reduce raw data volume
  - omit measurement quality since it usually does not get used

## Star History
[![Star History Chart](https://api.star-history.com/svg?repos=kaiaai/LDS&type=Date)](https://star-history.com/#kaiaai/LDS&Date)

LDS

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