Ld-air (ld19) LIDAR early review

[Michael Wimble]

Got my new ld-air (ld19) lidar today. (small unit in fron in the picture) Using software from: https://github.com/linorobot/ldlidar. Had to change the include in lipkg.h to "sensor_msgs/msg/laser_scan.hpp". I'm doing this in Ubunto 20.04 with foxy release of ros2. Scan works. 10Hz rate, about 0.8 degrees resolution. Minimum distance about an inch and a half. Saw some pauses in the data, still investigating.

I acquired it as part of their Kickstarter. You can buy them now via: https://www.indiegogo.com/projects/ld-air-lidar-tof-sensor-for-robotic-applications--3#/⁠
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Max range is claimed to be 12m and usable outside.They claim the minimum range is 20mm, and that may be true. My "inch and a half" was just watching for a change in rviz as I moved my hand closer. The 0.8 degrees, 10 Hz agrees with their 4500 samples per second.

It's too early for a definitive recommendation. Off hand, it seems pretty good, though. It's tiny, it's got better resolution than other many/most other cheap LIDARs. It seems to live up to the 0.02 to 15m range. They claim it should work outside. It's has a cap over the moving parts to give some water/dust resistance. I need to do a lot more experiments yet.

[Gmail]

Congrats! Looks great. Will you be using it for navigation?

Thomas

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Want to learn more about ROBOTS?

https://www.youtube.com/user/thomasfromriverside

On Sep 14, 2021, at 1:41 PM, Michael Wimble <mwi...@gmail.com> wrote:



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[Ryan D]

woah, I looked the kick starter for the Lidar, its $129 dollars! and if it does what it says it does, its a remarkable improvement from my RP Lidar A1!

I might look into that lidar later when I need to work on my robots hull redesign 👀

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[Brian Higgins]

Does it work out side?

Sent from my iPhone 12 Pro Max

On Sep 14, 2021, at 1:41 PM, Michael Wimble <mwi...@gmail.com> wrote:



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[Sergei Grichine]

I installed LD-19 LIDAR on Dragger a couple months ago, and had no problem indoors. But when outdoors, a lot of random noise pops up. It messes up Global costmap and makes navigation impossible.

I modified code in my fork of the official driver, and updated my notes here:

https://github.com/slgrobotics/robots_bringup/blob/main/Docs/Sensors/LD14.md

In a nutshell, there's a noise filter in the original code, which is for some reason disabled for 14P/19P types. I also added a "min_intensity" parameter and experimented with combining beams into triplets, which cuts beam count from 504 to 167.

To view this discussion on the web visit https://groups.google.com/d/msgid/hbrobotics/56E4F234-2F37-4C73-900C-B9F4C4453DA2%40gmail.com.

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Best Regards,

-- Sergei