SLAM mapping and navigation
360° scan out to 12 m at 10 Hz gives the point clouds SLAM and obstacle avoidance run on.
Engineering inference
LDROBOT
LDROBOT STL-19P 360° dToF Lidar (Waveshare D500 kit)
LDROBOT STL-19P (sold by Waveshare as the D500 LiDAR Kit): 360° 2D dToF lidar, 0.03–12 m on an 80 % white target and 0.03–8 m on 4 % black, ±10 mm to 0.5 m and ±30 mm to 12 m, 5 kHz at 10 Hz (0.72°), 60 klux, one-way UART 230400 baud, PWM speed input, 5 V / 290 mA, 45 g, 54 × 46.29 × 35 mm.
STL-19PDevelopment boardPrice$95.99www.waveshare.com · in stock
Buy at www.waveshare.com Overview
Motor essentials
Facts about the complete product. Unknown values remain open design questions.
A good fit for
Guidance to help you shortlist. The basis is shown for each recommendation.
ROS 2 robot builds
A maker-published or maker-linked ROS 2 driver means it drops into a ROS 2 / Nav2 stack without a custom node.
Engineering inferenceNo-load speed, rated performance and stall limits describe different operating points. A stall specification is not a continuous operating rating.
3D model & CAD
3D model & CAD files
Generated from the datasheet's dimensioned drawing and measured against it. Download the STEP to check fit in your own enclosure.
- Envelope (L × W × H)
- 54 × 46.29 × 35 mm
- Verification
- generated
- Envelope complete
- Yes
Range & scan
Range, scan and interface
How far it sees, how fast it scans, and how the robot reads it.
- Lidar type
- 2D scanning
- Ranging method
- dToF
- Min range
- 0.03 m
- Max range
- 12 m
- Max range rated at reflectivity
- 80 %
- Accuracy (±)
- 30 mm
- Accuracy detail
- ±10 mm (0.03–0.5 m), ±20 mm (0.5–2 m), ±30 mm (2–12 m white / 2–8 m black)
- Scan frequency
- 10 Hz
- Sample rate
- 5,000 Hz
- Angular resolution
- 0.72 °
- Horizontal field of view
- 360 °
- Wavelength
- 905 nm
- Laser safety class
- Class 1 (IEC 60825)
- Interface
- UART
- ROS 2 driver
- Yes
- ROS drivers
- Ldrobot-lidar-ros2 (Waveshare wiki SDK)
- Ambient light rating
- 60 klux
- IP rating
- IP5X
- Power
- 1.45 W
- Weight
- 45 g
- Supply voltage
- 4.5–5.5 V
| Pin / wire | Position | Role | Notes |
|---|---|---|---|
| Tx | uart tx | Output LiDAR data output 0V | |
| PWM | motor ctrl | Input Motor control signal 0V | |
| GND | ground | Negative pole | |
| P5V | power in | Positive pole |
| Connector | Type |
|---|---|
| zh15_4p | ZH1.5T-4P (1.5 mm, 4-pin): Tx, PWM, GND, P5V |
Max range is the printed figure at the stated target reflectivity; accuracy is the typical datasheet value. Scan frequency is the default rotation or frame rate.
Specifications
Motor performance
No-load, rated-load and stall figures retain their separate test conditions.
Stall torque and current are not continuous ratings. Check the duty cycle and starting load when choosing the driver and power supply.
Thermal limits by level
Product operating conditions, chip ambient ratings, package case limits and junction maxima remain separate.
Motor body
- Product operating range
- -10 to 45 °C
Mechanical dimensions
Reported product dimensions may exclude protruding components. Unknown height does not establish a complete clearance envelope.
- Length
- 54 mm
- Width
- 46.29 mm
- Reported height / thickness
- 35 mm
Attached generated geometry is an approximate envelope. A generated outline does not establish an electrically verified PCB footprint.
Board connectors
| ID / type | Pins | Pitch | Notes |
|---|---|---|---|
| zh15_4pZH1.5T-4P (1.5 mm, 4-pin): Tx, PWM, GND, P5V | 4 | 1.5 mm | — |
Complete structured record
Every available field, including details beyond the summaries. Null means the value has not been established.
Sourcing & files
Supplier offers
US / USD is the target market. Observed price and stock are separate from a delivery quote.
www.waveshare.com
US · USD
$95.99Minimum quantity unknown
- Observed stock
- in stock
- Checked
- Oct 17, 2026, 10:07 AM UTC
- Delivery estimate
- Not quoted
This observation is stale or has no verified check time. Recheck with the supplier.
Visit supplier (opens in a new tab)Delivery depends on quantity, postal code and shipping method. A dispatch statement such as “ship today” is not an arrival estimate.
Design files and references
Each source keeps its own verification status. Confirm the part revision and file contents before using it in a design.
Datasheet (opens in a new tab)
Manufacturer reference
LDROBOT STL-19P (Waveshare D500 kit) — store photo (opens in a new tab)
Manufacturer reference
inspected: black square base with mounting ears, round rotor cap, 4-pin socket
STEP (generated from datasheet drawing) — link unavailable
Generated asset
cad_check passed
Generated envelope geometry may also exist for this record. It does not replace manufacturer CAD or a verified electrical land pattern.
Source evidence
Document provenance, retrieval dates and the field groups supported by each source.
Supports: spec.constraints.electrical.io_voltage_v, spec.constraints.electrical.supply_voltage_max_v, spec.constraints.electrical.supply_voltage_min_v, spec.constraints.thermal.operating_temp_max_c, spec.constraints.thermal.operating_temp_min_c, spec.geometry.cad.bbox.height_mm, spec.geometry.cad.bbox.length_mm, spec.geometry.cad.bbox.width_mm, spec.geometry.cad.envelope_complete, spec.geometry.cad.mesh_path, spec.geometry.cad.step_path, spec.geometry.cad.verification, spec.geometry.dimensions.height_mm, spec.geometry.dimensions.length_mm, spec.geometry.dimensions.width_mm, spec.geometry.other.weight_g, spec.provides.accuracy_mm, spec.provides.accuracy_note, spec.provides.ambient_light_klux, spec.provides.angular_resolution_deg, spec.provides.features, spec.provides.fov_horizontal_deg, spec.provides.interface, spec.provides.ip_rating, spec.provides.laser_class, spec.provides.lidar_type, spec.provides.power_w, spec.provides.range_max_m, spec.provides.range_min_m, spec.provides.range_reflectivity_pct, spec.provides.ranging_method, spec.provides.ros2_driver, spec.provides.ros_drivers, spec.provides.sample_rate_hz, spec.provides.scan_frequency_hz, spec.provides.wavelength_nm, spec.usage.connectors, spec.usage.pinout, spec.usage.pinout_complete, spec.usage.requirements.other.supply_current_ma
sha256 451dd782aa50ee6480529adc52daf9a0300abbcc9bd098604764cd833dc65ba5
Supports: offers
FAQ
LDROBOT STL-19P 360° dToF Lidar questions
What voltage powers the LDROBOT STL-19P 360° dToF Lidar?
Supply range 4.5–5.5 V.
How much does the LDROBOT STL-19P 360° dToF Lidar cost?
From $95.99 at www.waveshare.com. Prices are observed unit prices before tax and shipping.
What are the LDROBOT STL-19P 360° dToF Lidar dimensions?
54 × 46.29 × 35 mm. A STEP model is available for enclosure fit checks.
Where does this LDROBOT STL-19P 360° dToF Lidar data come from?
Every value in this record is traced to a source — 2 documents including the board and chip datasheets — with the page and table cited per value. Unknowns are left explicit, never guessed.