LDS02RR LiDAR Distance Sensor

This laser distance sensor fits Xiaomi Mijia 1S SDJQR01RR SDJQR02RR SDJQR03RR vacuum cleaner as a replacement part.

Open-source engineering community has also interfaced this LiDAR model to various MCU and computers to capture distance data.

I test each unit using ROS2 RViz to make sure the LiDAR spins and outputs a distance image.

Each unit comes with a Maker’s Pet LDS02RR adapter board and a breakout cable for easy connection to a microcontroller or micro-computer, including ESP32, Raspberry Pi Pico, Raspberry Pi proper, etc. The micro-controller can be Arduino-based.

Step-by-step bring-up instructions and demo

LDS02RR with ROS2 Demo

Technical Specifications

• To the best of my knowledge, there is no official datasheet available for LDS02RR because LDS02RR is sold as a replacement part for vacuum cleaner repairs. Therefore, all specifications below are unofficial.
• Distance measurement method: triangulation
• Range: 0.15-6m
• Rotation frequency: 5Hz (revolutions per second)
• Scan rate: 1.8KHz
• Communication protocol: 115200 baud, based on Neato
• Vacuum cleaner SDJQR01RR manual
• Safety: the vacuum cleaner manual states its LiDAR “complies with IEC 60825-1:2014 Product type 1 and causes no harmful radiation”.
• Weight: approx. 206g LiDAR without board or cable

Documentation

• Unofficial specifications, protocol description and 3D model
• Unofficial 3D model
• Step-by-step instructions: “How-to: Connect Xiaomi $15 LDS02RR LiDAR to ESP32, Arduino”
• LDS02RR adapter board usage instructions
• LDS02RR adapter board schematic, 3D model
• Video of LDS02RR connected to ESP32 running Arduino, streaming live
• Video: step-by-step bring-up instructions “How-to: Stream LDS02RR Lidar distance data live using Arduino, ESP32”
• See this repo for the latest collection of technical references

Software

• Kaia.ai Arduino LDS library supports various LiDAR models including Xiaomi LDS02RR. This example sketch specifically illustrates data capture using LDS02RR, this adapter and an ESP32.
• Kaia.ai is ready-to-use robot software for Arduino/ROS2 robots equipped with a LiDAR, including Xiaomi LDS02RR. Kaia.ai includes firmware (ESP32) and ROS2-based software that runs ROS2 SLAM, Navigation, frontier exploration, etc. out-of-the-box. Kaia.ai supports Maker’s Pet robots including Maker’s Pet Mini.
• Arduino micro-ROS library is available for transferring the captured LiDAR data to a ROS2 PC

• Please visit our support forum
• Browse, file software issues in the Arduino LDS library repo

Warnings:

• This product contains small parts. Keep away from small children.
• This product contains a laser. Do not disassemble this product.