Some info and soft for LDS01RR Lidar (Roborock)
LDS01RR_WinScan folder - ("LDS Scanning Test") - windows utility for drawing Lidar data.
lds01rr_lidar folder - ROS node sources. Just run "make" command to build ROS node.
See more info about this Lidar here: https://youyeetoo.com/blog/lds01rr-lidar-stdps01rmain-108
Also some more info about previous Lidar from Roborock: https://github.com/Roborock-OpenSource/Cullinan
You can see tests results in "Pictures/Testing folder"
20 measurements are analyzed.
Distance 3m, white wall - Std. Dev.: +-0.7cm, Max-Min=2cm
Distance 5.84m, white wall - Std. Dev.: +-0.9cm, Max-Min=4cm
Distance 9.46m, white wall - Std. Dev.: +-1.3cm, Max-Min=5cm
Distance 6m, gray wall - Std. Dev.: +-1.6cm, Max-Min=5cm
Distance 8.4m, gray wall - Std. Dev.: +-2.1cm, Max-Min=8cm, this was maximum stable distance
Distance 4.4m, dark wall - Std. Dev.: +-1.2cm, Max-Min=4cm, this was maximum stable distance
Distance 11.56m, white wall - Std. Dev.: +-2.0cm, Max-Min=7cm, LDS has inclination angle ~20 deg.
It looks like that max distance for this Lidar is limited by 12m in its firmware.
Notice that data protocols (between rotating head and integrated STM32F446 MCU) and VCP protocols are different.