# 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.

- Manufacturer: LDROBOT
- Part number: STL-19P
- Category: Lidar & ToF range sensors
- Canonical page: https://www.xirkit.io/products/ldrobot-stl-19p-360-dtof-lidar-waveshare-d500-kit-d990
- Pinout: https://www.xirkit.io/products/ldrobot-stl-19p-360-dtof-lidar-waveshare-d500-kit-d990/pinout
- Structured JSON: https://www.xirkit.io/products/ldrobot-stl-19p-360-dtof-lidar-waveshare-d500-kit-d990/data.json
- Source: Xirkit structured parts catalog — every value traced to a cited document; unknowns are explicit.

## Key specifications

| Property | Value |
| --- | --- |
| 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 |
| Dimensions | 54 × 46.29 × 35 mm |
| Operating temperature | -10 to 45 °C |

## Pinout (4 pins, 0 with electrical limits)

| Pin | Position | Kind | Chip pad | Functions | VIH | VIL | VOH | VOL | IOH | IOL | 5 V tolerant |
| --- | --- | --- | --- | --- | --- | --- | --- | --- | --- | --- | --- |
| Tx | ZH1.5T-4P | uart tx | — | tx | — | — | — | — | — | — | — |
| PWM | ZH1.5T-4P | motor ctrl | — | pwm | — | — | — | — | — | — | — |
| GND | ZH1.5T-4P | ground | — | ground | — | — | — | — | — | — | — |
| P5V | ZH1.5T-4P | power in | — | power_in | — | — | — | — | — | — | — |

## Where to buy

| Supplier | Price | Stock | Checked | URL |
| --- | --- | --- | --- | --- |
| www.waveshare.com | 95.99 USD | in_stock | 2026-10-17 | https://www.waveshare.com/d500-lidar-kit.htm |

## FAQ

**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.

## Sources

- [LDROBOT STL-19P 360° dToF Lidar (Waveshare D500 kit) datasheet](https://files.waveshare.com/wiki/D500-LiDAR-Kit/LDROBOT_STL-19P_Datasheet_EN_v1.0(1).pdf)
- [www.waveshare.com listing](https://www.waveshare.com/d500-lidar-kit.htm)

## Part graph

### Alternatives (by use case)

- [Slamtec RPLIDAR A1M8 360° Lidar (dev kit)](https://www.xirkit.io/products/slamtec-rplidar-a1m8-360-lidar-dev-kit-0e28) — Both serve slam mapping and navigation — check the trade-offs; $95.99 vs $99
- [LDROBOT LD14P Lidar (Waveshare D200 kit)](https://www.xirkit.io/products/ldrobot-ld14p-lidar-waveshare-d200-kit-152c) — Both serve slam mapping and navigation — check the trade-offs; $95.99 vs $54.99
- [Slamtec RPLIDAR C1 360° dToF Lidar](https://www.xirkit.io/products/slamtec-rplidar-c1-360-dtof-lidar-5db8) — Both serve slam mapping and navigation — check the trade-offs; $95.99 vs $79.99
- [YDLIDAR T-mini Plus 360° ToF Lidar](https://www.xirkit.io/products/ydlidar-t-mini-plus-360-tof-lidar-c0fd) — Both serve slam mapping and navigation — check the trade-offs; $95.99 vs $85
- [YDLIDAR X2L 360° Triangulation Lidar](https://www.xirkit.io/products/ydlidar-x2l-360-triangulation-lidar-c1e8) — Both serve slam mapping and navigation — check the trade-offs; $65 vs $95.99
- [YDLIDAR X4 Pro 360° Triangulation Lidar](https://www.xirkit.io/products/ydlidar-x4-pro-360-triangulation-lidar-b1db) — Both serve slam mapping and navigation — check the trade-offs; $90 vs $95.99
- [Orbbec MS200K 360° dToF Lidar](https://www.xirkit.io/products/orbbec-ms200k-360-dtof-lidar-86b6) — Both serve slam mapping and navigation — check the trade-offs; $100 vs $95.99

### Pin-compatible

- [LDROBOT STL-27L 25 m dToF Lidar](https://www.xirkit.io/products/ldrobot-stl-27l-25-m-dtof-lidar-6764) — Same LDROBOT 54 × 46.29 mm footprint and ZH1.5T-4P pinout (Tx, PWM, GND, P5V, 4.5–5.5 V); drop-in mechanically and electrically, but the UART runs at 921600 baud instead of 230400 — host code must change baud