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Merge pull request #1813 from ROBOTIS-GIT/feature-tb3-add-coin-d4
Feature tb3 add coin d4
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‎_data/navigation.yml‎

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url: /platform/turtlebot3/appendix_lds_01/
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- title: "LDS-02"
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url: /platform/turtlebot3/appendix_lds_02/
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- title: "LDS-03"
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url: /platform/turtlebot3/appendix_lds_03/
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- title: "RealSense™"
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url: /platform/turtlebot3/appendix_realsense/
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- title: "Raspberry Pi Camera"

‎_includes/en/platform/turtlebot3/quick_start/sbc_setup_humble.md‎

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@@ -199,10 +199,12 @@ $ sudo apt install python3-argcomplete python3-colcon-common-extensions libboost
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$ sudo apt install ros-humble-hls-lfcd-lds-driver
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$ sudo apt install ros-humble-turtlebot3-msgs
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$ sudo apt install ros-humble-dynamixel-sdk
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$ sudo apt install ros-humble-xacro
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$ sudo apt install libudev-dev
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$ mkdir -p ~/turtlebot3_ws/src && cd ~/turtlebot3_ws/src
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$ git clone -b humble https://github.com/ROBOTIS-GIT/turtlebot3.git
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$ git clone -b humble https://github.com/ROBOTIS-GIT/ld08_driver.git
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$ git clone -b humble https://github.com/ROBOTIS-GIT/coin_d4_driver
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$ cd ~/turtlebot3_ws/src/turtlebot3
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$ rm -r turtlebot3_cartographer turtlebot3_navigation2
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$ cd ~/turtlebot3_ws/
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{: .notice--warning}
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### LDS Configuration
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The TurtleBot3 LDS has been updated to the LDS-02 since 2022.
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If you have purchased a TurtleBot3 after 2022, please use `LDS-02` for your LDS_MODEL.
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|LDS-01|LDS-02|
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|:---:|:---:|
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|![](/assets/images/platform/turtlebot3/more_info/appendix_lds/lds_small.png)|![](/assets/images/platform/turtlebot3/more_info/appendix_lds/lds_ld08_small.png)|
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|LDS-01|LDS-02|LDS-03|
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|:---:|:---:|:---:|
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|![](/assets/images/platform/turtlebot3/more_info/appendix_lds/lds_small.png)|![](/assets/images/platform/turtlebot3/more_info/appendix_lds/lds_ld08_small.png)|![](/assets/images/platform/turtlebot3/more_info/appendix_lds/lds_coind4_small.png)|
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Depending on your LDS model, use `LDS-01` or `LDS-02`.
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Depending on your LDS model, use the appropriate model: LDS-01, LDS-02, or LDS-03.
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**[TurtleBot3 SBC]**
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```bash
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$ echo 'export LDS_MODEL=LDS-02' >> ~/.bashrc
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$ echo 'export LDS_MODEL=LDS-01' >> ~/.bashrc # If you are using LDS-01
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$ echo 'export LDS_MODEL=LDS-02' >> ~/.bashrc # If you are using LDS-02
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$ echo 'export LDS_MODEL=LDS-03' >> ~/.bashrc # If you are using LDS-03
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```
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‎_includes/en/platform/turtlebot3/quick_start/sbc_setup_jazzy.md‎

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$ sudo apt install ros-jazzy-hls-lfcd-lds-driver
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$ sudo apt install ros-jazzy-turtlebot3-msgs
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$ sudo apt install ros-jazzy-dynamixel-sdk
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$ sudo apt install ros-jazzy-xacro
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$ sudo apt install libudev-dev
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$ mkdir -p ~/turtlebot3_ws/src && cd ~/turtlebot3_ws/src
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$ git clone -b jazzy https://github.com/ROBOTIS-GIT/turtlebot3.git
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$ git clone -b jazzy https://github.com/ROBOTIS-GIT/ld08_driver.git
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$ git clone -b jazzy https://github.com/ROBOTIS-GIT/coin_d4_driver
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$ cd ~/turtlebot3_ws/src/turtlebot3
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$ rm -r turtlebot3_cartographer turtlebot3_navigation2
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$ cd ~/turtlebot3_ws/
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{: .notice--warning}
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### LDS Configuration
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The TurtleBot3 LDS has been updated to the LDS-02 since 2022.
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If you have purchased a TurtleBot3 after 2022, please use `LDS-02` for your LDS_MODEL.
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|LDS-01|LDS-02|
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|:---:|:---:|
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|![](/assets/images/platform/turtlebot3/more_info/appendix_lds/lds_small.png)|![](/assets/images/platform/turtlebot3/more_info/appendix_lds/lds_ld08_small.png)|
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|LDS-01|LDS-02|LDS-03|
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|:---:|:---:|:---:|
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|![](/assets/images/platform/turtlebot3/more_info/appendix_lds/lds_small.png)|![](/assets/images/platform/turtlebot3/more_info/appendix_lds/lds_ld08_small.png)|![](/assets/images/platform/turtlebot3/more_info/appendix_lds/lds_coind4_small.png)|
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Depending on your LDS model, use `LDS-01` or `LDS-02`.
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Depending on your LDS model, use the appropriate model: LDS-01, LDS-02, or LDS-03.
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**[TurtleBot3 SBC]**
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```bash
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$ echo 'export LDS_MODEL=LDS-02' >> ~/.bashrc
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$ echo 'export LDS_MODEL=LDS-01' >> ~/.bashrc # If you are using LDS-01
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$ echo 'export LDS_MODEL=LDS-02' >> ~/.bashrc # If you are using LDS-02
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$ echo 'export LDS_MODEL=LDS-03' >> ~/.bashrc # If you are using LDS-03
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```
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‎assets/images/platform/turtlebot3/more_info/appendix_lds/lds_coind4_small.png‎

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‎assets/images/platform/turtlebot3/more_info/appendix_lds/lds_coind4_top_small.png‎

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‎docs/en/platform/turtlebot3/faq/faq.md‎

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‎docs/en/platform/turtlebot3/more_info/additional_sensors.md‎

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‎docs/en/platform/turtlebot3/more_info/appendix_lds_03.md‎

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---
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layout: archive
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lang: en
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ref: appendix_lds_03
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read_time: true
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share: true
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author_profile: false
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permalink: /docs/en/platform/turtlebot3/appendix_lds_03/
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sidebar:
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title: TurtleBot3
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nav: "turtlebot3"
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product_group: turtlebot3
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---
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<!--[dummy Header 1]>
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<h1 id="dummy">More Info</h1>
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<h2 id="dummy">Appendixes: LDS-03</h2>
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<p class=dummy_content>360 Laser Distance Sensor v3</p>
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<![end dummy Header 1]-->
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### [LDS-03](#lds-03)
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[The previous LDS sensor(LDS-02)](/docs/en/platform/turtlebot3/appendix_lds_02/) is discontinued and replaced with LDS-03 since 2025.
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#### [Overview](#overview)
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![](/assets/images/platform/turtlebot3/appendix_lds/lds_coind4_small.png)
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![](/assets/images/platform/turtlebot3/appendix_lds/lds_coind4_top_small.png)
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- 360 Laser Distance Sensor LDS-03 is a 2D laser scanner capable of sensing 360 degrees that collects a set of data around the robot to use for SLAM (Simultaneous Localization and Mapping) and Navigation.
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- The LDS-03 is used for TurtleBot3 Burger and Waffle Pi models.
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- Only Tx UART interface is available for the LDS-03 sensor.
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- The USB interface(USB2LDS) supports easier connection to a PC or SBC.
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#### [Specifications](#specifications)
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##### [General Specifications](#general-specifications)
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| Items | Specifications |
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|:-------------------------|:---------------------------------------------------------------------|
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| Operating supply voltage | 5V DC ± 10% |
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| LASER Wave Length | VCSEL Laser (λ=905 nm) |
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| LASER safety | Class I (IEC-60825) |
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| Current consumption | 240 ~ 320 mA |
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| Detection distance | 0.05 ~ 12 m |
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| Interface | 3.3V USART (115200 bps, 8 data bits, no parity, 1 stop bit), Tx Only |
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| Ambient Light Resistance | 60,000 lux |
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| Life Time | 10,000 hrs |
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| Sampling Rate | 4kHz (Fixed) |
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| Operating Temperature | -10 ~ 50 &deg;C |
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| Storage Temperature | -30 ~ 70 &deg;C |
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| Dimensions | 54.7(W) X 39.7(D) X 34(H)mm |
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| Mass | 42 g |
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##### [Measurement Performance Specifications](#measurement-performance-specifications)
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| Items | Specifications |
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|:-------------------------------------|:---------------|
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| Distance Range | 0.05 ~ 12 m |
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| Distance Accuracy (0.05 ~ 1 m) | ±10mm |
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| Distance Accuracy(1 m ~ ) | ±20mm |
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| `1` Scan Frequency | 10 Hz |
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| Angular Range | 360 &deg; |
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| `2` Angular Resolution | 0.9 &deg; |
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**NOTE :**
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`1` Scan Frequency may vary by each product.
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`2` Due to the fixed sampling rate, the Angular Resolution may vary by the Scan Frequency.
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{: .notice}

‎docs/en/platform/turtlebot3/more_info/appendix_raspi_cam.md‎

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‎docs/en/platform/turtlebot3/more_info/appendix_realsense.md‎

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