Data Sheet

4/27/2018 TurtleBot3

http://emanual.robotis.com/docs/en/platform/turtlebot3/appendix_lds_01/ 4/7

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.

23. 6. 1. Installation

23. 6. 2. Set Permission for LDS-01

23. 6. 3. Run hlds_laser_publisher Node

23. 6. 4. Run hlds_laser_publisher Node with RViz

23. 7. 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)

23. 7. 1. Download

Download the LDS-01’s driver

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

23. 7. 2. Build

The makefile used here is set for Linux. Windows and macOS should be changed

according to their development environment.

23. 7. 3. 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.

23. 8. User Guide (for GUI)

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

$ sudo chmod a+rw /dev/ttyUSB0

$ roslaunch hls_lfcd_lds_driver hlds_laser.launch

$ roslaunch hls_lfcd_lds_driver view_hlds_laser.launch

$ git clone https://github.com/ROBOTIS-GIT/hls_lfcd_lds_driver.git

$ cd hls_lfcd_lds_driver/applications/lds_driver/

$ make

$ ./lds_driver

r[359]=0.438000,r[358]=0.385000,r[357]=0.379000,...

TurtleBot3