Lidar

The Studica Lidar is a 360˚ 2D LiDAR. The lidar rotates 360˚ to continuosly output the angle and distance of a scanning environment.

Important

The Laser on the lidar is class 1.

Lidar Specifications (Click to Open)

Lidar Specs

Item	Min	Typical	Max	Unit	Remark
Ranging Frequency	/	3000	/	Hz	Ranging 3000 times per second
Motor Frequency	5	6	8	Hz	Need to connect to PWM signal, recommended to use the speed of 6Hz
Ranging Distance	0.12	/	8	m	Indoor Environment with 80% reflectivity
Field of View	/	0-360	/	Deg	/
Systematic Error	/	2	/	cm	Range ≤ 1m
Relative Error	/	3.5	/	%	1m ≤ Range ≤ 6m
Tilt angle	0.25	1	1.75	Deg	/
Angle Resolution	0.6 @ 5Hz	0.72 @ 6Hz	0.96 @ 8Hz	Deg	Different per motor Frequency
Supply Voltage	4.8	5	5.2	V	Excessive voltage might damage the lidar
Supply Current	1000	/	/	mA	Instantaneous peak current at start-up
Working Current	/	300	500	mA	Lidar when activly scanning
Laser Wavelength	775	793	800	nm	Infrared band
Operating Temperature	0	20	40	℃	No condensation
Storage Temperature	-10	/	60	℃	With package
Lighting Environment	0	550	2000	Lux	For reference only
Weight	/	126	/	g	N.W.

Polar Coordinate System Definition

The lidar defines a polar coordinate system. The center of the rotating core is taken as the pole and the specified angle is positive clockwise. The zero angle is located directly in front of the motor. With tolerances there is a ±3˚ deviation.

Programming

Using ROS or ROS2:

There is a driver that can be installed and used:

ROS

ROS2

Using WPILib:

JavaC++

Full example can be viewed on the example github here

//Lidar Library
private Lidar lidar;

//Lidar Scan Data Storage class
private Lidar.ScanData scanData;

/**
 * Top USB 2.0 port of VMX = kUSB1
 * Bottom USB 2.0 port of VMX = kUSB2
 */
lidar = new Lidar(Lidar.Port.kUSB1); //Lidar will start spinning the moment this is called

//Call that will start the lidar if stopped
lidar.start();

//Call that will stop the lidar if needed.
lidar.stop();

//Call to get data from lidar.
scanData = lidar.getData();

//Output Lidar data at 60 degrees
System.out.println("Angle: " + scanData.angle[60] +"˚, Distance: " + scanData.distance[60] + "mm");