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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#/ 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.
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Sep 14, 2021, 5:04:34 PM9/14/21
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Congrats! Looks great. Will you be using it for navigation?
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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 👀