Add LDS01RR

Author: Ilia O.

README.md

@@ -16,6 +16,7 @@ This library supports:
 - CAMSENSE X1
 
 ### Experimental (needs testing)
+- Xiaomi Roborock LDS01RR (2nd gen, ToF) - same protocol as Neato XV11
 - LDROBOT LD06 (same protocol as LD19)
 - LDROBOT STL-19P / D500 (same protocol as LD19)
 - Hitachi-LG HLS-LFCD2 / LDS-01 (TurtleBot3 LiDAR)
@@ -180,10 +181,8 @@ LidarSerial.begin(baud_rate, SERIAL_8N1, 4, 5); // GPIO4 as RX1, GPIO5 as TX1
 - initial release
 
 ## TODO
-- add Xiaomi Roborock LDS01RR
 - add LDROBOT LD20
 - add LDROBIT LD19P, https://github.com/Myzhar/ldrobot-lidar-ros2
-- add Hitachi-LG HLS-LFCD2
 - add Dreame TBD
 - reduce raw data volume
   - omit measurement quality since it usually does not get used

examples/all_lidars_lds02rr_esp32/all_lidars_lds02rr_esp32.ino

@@ -48,6 +48,7 @@ const uint8_t LIDAR_GPIO_PWM = 15;// ESP32 GPIO connected to Lidar PWM pin
 //#define CAMSENSE_X1
 //
 // EXPERIMENTAL - needs testing:
+//#define XIAOMI_LDS01RR
 //#define LDROBOT_LD06
 //#define LDROBOT_LD19
 //#define LDROBOT_STL19P
@@ -113,6 +114,9 @@ void setupLidar() {
   lidar = new LDS_YDLIDAR_X4_PRO();
   #elif defined(CAMSENSE_X1)
   lidar = new LDS_CAMSENSE_X1();
+  // EXPERIMENTAL - needs testing:
+  #elif defined(XIAOMI_LDS01RR)
+  lidar = new LDS_LDS01RR();
   #elif defined(LDROBOT_LD06)
   lidar = new LDS_LDROBOT_LD06();
   #elif defined(LDROBOT_LD19)

examples/all_lidars_lds02rr_esp32s3/all_lidars_lds02rr_esp32s3.ino

@@ -48,6 +48,7 @@ const uint8_t LIDAR_GPIO_PWM = 15;// ESP32S3 GPIO connected to Lidar PWM pin
 //#define CAMSENSE_X1
 //
 // EXPERIMENTAL - needs testing:
+//#define XIAOMI_LDS01RR
 //#define LDROBOT_LD06
 //#define LDROBOT_LD19
 //#define LDROBOT_STL19P
@@ -115,6 +116,8 @@ void setupLidar() {
   #elif defined(CAMSENSE_X1)
   lidar = new LDS_CAMSENSE_X1();
   // EXPERIMENTAL - needs testing:
+  #elif defined(XIAOMI_LDS01RR)
+  lidar = new LDS_LDS01RR();
   #elif defined(LDROBOT_LD06)
   lidar = new LDS_LDROBOT_LD06();
   #elif defined(LDROBOT_LD19)

keywords.txt

@@ -15,6 +15,7 @@ LDS_YDLIDAR_X2_X2L	KEYWORD1
 LDS_YDLIDAR_SCL	KEYWORD1
 LDS_NEATO_X11	KEYWORD1
 LDS_LDS02RR	KEYWORD1
+LDS_LDS01RR	KEYWORD1
 LDS_RPLIDAR_A1	KEYWORD1
 LDS_RPLIDAR_C1	KEYWORD1
 LDS_DELTA_2A_230400	KEYWORD1

library.properties

@@ -3,7 +3,7 @@ version=0.6.3
 author=Ilia O. <iliao@kaia.ai>
 maintainer=Ilia O. <iliao@kaia.ai>
 sentence=Laser distance scan sensors (LDS/LIDAR) wrapper/controller for kaia.ai robotics platform
-paragraph=Supports YDLIDAR X4, X4 PRO, X3, X3 PRO, X2/X2L, SCL, T-mini; Xiaomi Roborock 1st gen LDS02RR; Neato XV11; SLAMTEC RPLIDAR A1, C1; 3irobotix Delta-2A, -2B, -2D, -2G, LDS08RR, -2A 115000; LDROBOT LD14P, LD19, LD06, STL-19P; Hitachi-LG HLS-LFCD2; CAMSENSE X1
+paragraph=Supports YDLIDAR X4, X4 PRO, X3, X3 PRO, X2/X2L, SCL, T-mini; Xiaomi Roborock LDS02RR, LDS01RR; Neato XV11; SLAMTEC RPLIDAR A1, C1; 3irobotix Delta-2A, -2B, -2D, -2G, LDS08RR, -2A 115000; LDROBOT LD14P, LD19, LD06, STL-19P; Hitachi-LG HLS-LFCD2; CAMSENSE X1
 category=Sensors
 url=https://github.com/kaiaai/LDS
 architectures=*

src/LDS_LDS01RR.cpp

@@ -0,0 +1,22 @@
+// Copyright 2023-2025 KAIA.AI
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+//
+// EXPERIMENTAL - needs testing
+// Xiaomi Roborock LDS01RR (2nd gen, ToF) - same protocol as Neato XV11
+
+#include "LDS_LDS01RR.h"
+
+const char* LDS_LDS01RR::getModelName() {
+  return "Xiaomi LDS01RR";
+}

src/LDS_LDS01RR.h

@@ -0,0 +1,24 @@
+// Copyright 2023-2025 KAIA.AI
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+//
+// EXPERIMENTAL - needs testing
+// Xiaomi Roborock LDS01RR (2nd gen, ToF) - same protocol as Neato XV11
+
+#pragma once
+#include "LDS_NEATO_XV11.h"
+
+class LDS_LDS01RR : public LDS_NEATO_XV11 {
+  public:
+    virtual const char* getModelName() override;
+};

src/lds_all_models.h

@@ -22,6 +22,7 @@
 #include "LDS_YDLIDAR_SCL.h"
 #include "LDS_NEATO_XV11.h"
 #include "LDS_LDS02RR.h"
+#include "LDS_LDS01RR.h"
 #include "LDS_RPLIDAR_A1.h"
 #include "LDS_RPLIDAR_C1.h"
 #include "LDS_DELTA_2A_115200.h"