https://github.com/pschatzmann/ldrobot-lidar-stl
Library for LDROBOT LD19, LD06, STL-19P
https://github.com/pschatzmann/ldrobot-lidar-stl
arduino-library cmake ld06 ld19 ldrobot lidar stl-19p
Last synced: 11 days ago
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Library for LDROBOT LD19, LD06, STL-19P
- Host: GitHub
- URL: https://github.com/pschatzmann/ldrobot-lidar-stl
- Owner: pschatzmann
- Created: 2026-04-14T07:08:28.000Z (3 months ago)
- Default Branch: main
- Last Pushed: 2026-04-14T07:57:17.000Z (3 months ago)
- Last Synced: 2026-04-14T09:30:14.265Z (3 months ago)
- Topics: arduino-library, cmake, ld06, ld19, ldrobot, lidar, stl-19p
- Language: C++
- Homepage:
- Size: 1.37 MB
- Stars: 1
- Watchers: 0
- Forks: 0
- Open Issues: 0
-
Metadata Files:
- Readme: README.md
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README
# LDROBOT-LIDAR-STL
[](https://www.arduino.cc/reference/en/libraries/)
[](https://opensource.org/licenses/MIT)
Arduino library for the LDRobot D500 LIDAR (STL-19P).
This library parses STL-19P scan packets from an Arduino `Stream`, validates the packet CRC, interpolates point angles, converts angle and distance units, and returns decoded samples through a callback. If you are doing SLAM you can use the `is_obstacle` flag to determine if the reported distance is an obstacle or obstacle-free.
### Notes
- If no result callback is registered, decoded points are printed to `Serial` by default.
- The baud rate must be set to 230400 bit 1 stop bit
- This library can also be used with and w/o Arduino Emulator on the desktop: e.g Linux
### Supported Lidars
The following variants should be working with this library:
- LD19
- STL-19P
- LD06
- D300 (kit)
- D500 (kit)
## Pinout
Pins from left to right:
1) Tx Output LiDAR signal output 3.3V
2) PWM Input Motor control signal 3.3V (0V-3.6V)
3) GND Power Power ground (negative) - 0V
4) P5V Power Power positive 5V (4.5V-5.5V)
The serial output should be at 3.3V logic level.
If you do not provide an PWM Motor Control set the value to GND
## Features
- Parses STL-19P serial packets directly from any Arduino `Stream`
- Validates frames with CRC-8
- Emits one decoded result per sample
- Result supports multiple angle units:
- `LidarAngleUnit::DEG`: 0 - 360 degree clock wise
- `LidarAngleUnit::RAD`: 0 - 2*PI clock wise
- `LidarAngleUnit::DEG_ROS`: 0 forward, + left, - right
- `LidarAngleUnit::RAD_ROS`: 0 forward, + left, - right in radian
- Result supports multiple distance units:
- `LidarDistanceUnit::MM`
- `LidarDistanceUnit::CM`
- `LidarDistanceUnit::M`
- `LidarDistanceUnit::IN`
- Optional debug output when no callback is registered
- Optional callback for reading bytes from the lidar
## Documentation
- [Examples](examples/)
- [Class Documentation](https://pschatzmann.github.io/LDROBOT-LIDAR-STL/docs/html/classLidarParserSTL.html)
## Installation
For Arduino, you can download the library as zip and call include Library -> zip library. Or you can git clone this project into the Arduino libraries folder e.g. with
```
cd ~/Documents/Arduino/libraries
git clone https://github.com/pschatzmann/TinyRobotics.git
```
The Arduino libraries directory depends on the OS:
- Linux: `~/Arduino/libraries/`
- macOS: `~/Documents/Arduino/libraries/`
- Windows: `Documents/Arduino/libraries/`