Awesome 2D LiDAR List

We have created an Awesome 2D LiDARs list on GitHub. The list includes the LiDAR specifications, protocols, wiring diagrams, software interface code, identification photos and videos as well as performance evaluations (when available).

The proliferation of consumer robotic vacuum cleaners equipped with low-cost LiDARs that map the living space keeps driving the cost of 2D LiDARs down dramatically. If you are looking for a 2D LiDAR for your ROS2 and/or Arduino robot project, you might find one at eBay or AliExpress for less than $20 retail – including shipping!

As of April 2026, we have added 50 LiDAR models, including those from YDLIDAR, SLAMTEC, LDROBOT, 3irobotix, Camsense, Xiaomi and Neato.

LiDAR Interface Boards

These Maker’s Pet boards come with a LiDAR header suitable to connect most of these LiDARs. Please browse Maker’s Pet tutorials for detailed instructions.

BDC-30P for 30-pin ESP32
BDC-38P for 38-pin ESP32

LiDAR Specifications

Here is a table of LiDAR specifications. For additional resources and most recent specs please visit the Awesome 2D LiDARs list.

YDLIDAR

YDLIDAR X4 (Tria) — 6–12Hz, 5KHz samples, 0.12–10m, Class 1, 2K lux, 793nm, 180g, ~$70–90. Datasheet.pdf)
YDLIDAR X4 PRO (Tria) — 6–12Hz, 5KHz, 0.12–10m, 1,500h life, Class 1, 40K lux, 793nm, 178g, ~$75–100. Datasheet.pdf)
YDLIDAR X2 / X2L (Tria) — 5–8 (6)Hz, 3KHz, 0.12–8m @80%, 1,500h, Class 1, 2K lux, 793nm, 126g, ~$75–100. Datasheet.pdf)
YDLIDAR X3 (Tria) — 5–10 (8)Hz, 3KHz, 0.12–8m, Class 1, 2K lux, 793nm, 135g, ~$65.
YDLIDAR X3 PRO (Tria) — 6–12Hz, 4KHz, 0.12–8m, 1,500h, 40K lux, ~$70. Specs
YDLIDAR G1 (Tria) — 5–12 (7)Hz, 4–9KHz, 0.12–8m @80%, Class 1, 20K lux, 793nm, 140g. Product
YDLIDAR G2 (Tria) — 5–12 (7)Hz, 5KHz, 0.12–16m @80%, Class 1, 2K lux, 792nm, 185g. Product
YDLIDAR G4 (Tria) — 5–12 (7)Hz, 9KHz, 0.12–16m @80%, Class 1, 2K lux, 792nm, 214g. Product
YDLIDAR G6 (Tria) — 5–12 (7)Hz, 10–18 (18)KHz, 0.12–16m @80%, Class 1, 2K lux, 792nm, 214g. Product
YDLIDAR SCL — specs TBD. Arduino code
YDLIDAR T-mini Plus (ToF) — 6–12 (6)Hz, 4KHz, 0.05–4m @10% / 12m @80%, ±20mm, Class 1, 60K lux, 905nm, 45g, $71. Product
YDLIDAR T-mini Pro (ToF) — 6–12 (6)Hz, 4KHz, 0.02–4m @10% / 12m @80%, ±20mm, Class 1, 60K lux, 905nm, 45g. Product

SLAMTEC RPLIDAR

RPLIDAR A1M8-R4 (Tria) — 1–10Hz, 8KHz, 0.15–6m, Class 1. Datasheet
RPLIDAR A1M8-R5 (Tria) — 1–10 (5.5)Hz, 8KHz, 0.15–12m, Class 1, 785nm, 170g, ~$99. Datasheet
RPLIDAR A2M12 (Tria) — 5–15 (10)Hz, 16KHz, 0.2–10m black / 12m white, Class 1, 785nm. Product
RPLIDAR A3M1 (Tria) — 5–15 (10)Hz, 16KHz, 0.2–10m black / 25m white, Class 1, 785nm. Product
RPLIDAR C1M1-R2 (ToF) — 8–12 (10)Hz, 5KHz, 0.05–6m @10% / 12m @70%, Class 1, 40K lux, 905nm, 110g. Product
RPLIDAR S1 (ToF) — 8–15 (10)Hz, 9.2KHz, 0.1–10m black / 40m white, Class 1, 905nm. Datasheet
RPLIDAR S2 (ToF) — 8–12 (10)Hz, 5KHz, 0.05–6m @10% / 12m @70%, Class 1, 40K lux, 905nm, 110g. Product
RPLIDAR S3 (ToF) — 10–20 (10)Hz, 32KHz, 0.05–5m @2% / 15m @10% / 40m @70%, Class 1, 80K lux, 905nm, 115g. Product

LDROBOT

LD14 (Tria) — 2–8 (6)Hz, 2.3KHz, 0.15–5m @4% / 8m @80%, 1,500h, Class 1, ~30K lux, 793nm, 131g. Datasheet
LD14P (Tria) — 2–8 (6)Hz, 4KHz, 0.1–6m @4% / 8m @80%, 2,200h, Class 1, ~80K lux, 793nm, 100g, ~$35. Datasheet, Spec & protocol, SDK/ROS2
LD08 (Tria) — 2–10Hz, 2.3KHz, 0.16–8m, Class 1, ~25K lux, 131g. Datasheet
LD19 (ToF) — 10Hz, 4.5KHz, 0.02–12m, ±10mm at 3–12m, 10,000h, Class 1, 30K lux. Docs & SDK, Driver
LD19P (Tria) — 2–10Hz, 2.3KHz, 0.16–8m, Class 1, ~25K lux, 131g. Datasheet
LD06 (ToF) — 5–13 (10)Hz, 4.5KHz, 0.02–12m, ±15mm, 10,000h, Class 1, 25K lux, 905nm, $99. Docs, Driver
LD-AIR (ToF?) — 5–13Hz, 4.5KHz, 0.02–12m, ±45mm, 10,000h, Class 1, 20K lux, 47g, $129. Kickstarter, Indiegogo, Driver
LD20 — specs TBD.
STL-27L (ToF) — 10Hz, 21.6KHz, 0.03–25m, ±15mm at 0.03–2m, 60K lux, $142. Product
STL-19P (ToF) — 10Hz, 5KHz, 0.03–12m, ±10mm at 0.03–0.5m. Product, Kit & SDK/ROS2
STL-26N (ToF) — 6Hz, 5KHz, 0.04–12m, ±8mm at 0.1–0.5m, 80K lux. Product
STL-06P (ToF) — 10Hz, 5KHz, 0.02–12m, ±10mm at 0.03–0.5m. Product
STL-26 (ToF) — 6Hz, 5KHz, 0.1–12m, ±10mm at 0.03–0.5m, 60K lux. Product

3irobotix Delta

Delta-2A (Tria) — 4–10 (6.2)Hz, 2–5KHz, 0.13–8m @100%, <1% at 5m, Class 1, 1K lux, 780nm, 175g, ~$28. SDK, Protocol
Delta-2B (Tria) — ~4–10Hz, ~5KHz, ~0.2–8m, ~1K lux. Arduino code
Delta-2G (Tria) — ~5.25Hz, ~1.9KHz, ~0.15–5m, ~$17. SDK, Protocol
Delta-3A (Tria) — 5–15Hz, 8KHz, 0.13–16m @80%, 50,000h, Class 1, 1K lux, 780nm, 193.5g, $270.

Xiaomi

Xiaomi LDS02RR (Tria) — 5Hz, 1.8KHz, 0.15–6m, ~$16. Uses Neato protocol.
LDS08RR (a.k.a. Revo LDS) (Tria) — ~5Hz, ~1.8KHz, ~0.15–6m. Uses Neato protocol.
Xiaomi LDS01RR (ToF) — 5Hz, 0.15–9m, 1,095h, Class 1, ~$37. Spec, ROS2 / Win viewer

Neato

Neato XV11 (Tria) — 5Hz, ~2KHz, ~0.15–6m, 195g, ~$35. ROS2, Characterization PDF

Hitachi-LG

HLS-LFCD2 (ToF) — 5Hz, 1.8KHz, 0.12–3.5m, Class 1, ~10K lux, ~$28. Spec, ROS2
HLS-LFCD3 (Tria) — 5Hz, 2.3KHz, 0.16–8m, 1,000h, Class 1, ~25K lux, ~$17. Spec, ROS2

Camsense

X1 (Tria) — 5.2Hz, 2.08KHz, 0.1–8m, Class 1, 50K lux, ~$19. Code, Product, SDK
X2 (Tria) — 5.2Hz, 3 (2.08)KHz, 0.12–8m, Class 1, 50K lux, 780nm EEL / 808nm VCSEL. Product, SDK
D2 (Tria) — 5.6 / 6Hz, 2.08 / 3KHz, 0.15–8m, Class 1, 50K lux, 780nm / 940nm. Product, SDK
T2 (ToF) — 5–8Hz, 5 (4.688)KHz, 0.06–12m, Class 1, 60K lux, 905nm. Product, SDK

Other

ORBBEC MS200 (ToF) — 5–15 (10)Hz, 4.5KHz, 0.03–12m @90%, 10,000h, Class 1, 40K lux, 905nm, 40g, $100. Product
LDS-006 (Ecovacs Deebot) — specs TBD, $23.
MB-1R2T (YDLIDAR?) — specs TBD. ROS2, ROS1, 3D model

Awesome 2D LiDAR List in the News

As of April 8, 2024 our Awesome 2D LiDARs list has been mentioned (thank-you!) by

That said, for a DIY maker, at the moment, this technology area may feel a bit like the Wild West:

Some LiDAR models do not have official datasheets available publically 🫤
Some LiDAR models evolve over time – their specs change, while the model name remains unchanged
The maximum distance specification is often poorly defined (needs object reflectivity and ambient illumination specified)
The ambient light resistance is often poorly defined as well (needs object reflectivity, distance to object and ambient light spectrum)
It seems there is no independent authority offering 2D LiDAR models evaluations

On a positive note, in the long run, this kind of technology evolution should (hopefully) benefit consumers around the world.

LiDAR Interface Boards