# Leishen lslidar-C16 16 channels lidar

**URL:** <https://discourse.openrobotics.org/t/leishen-lslidar-c16-16-channels-lidar/10055>\
**Category:** Autoware\
**Created:** [July 24, 2019, 6:09pm UTC](https://discourse.openrobotics.org/t/leishen-lslidar-c16-16-channels-lidar/10055 "2019-07-24T18:09:46Z")\
**Posts on this page:** 1\
**Page:** 1

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**Author:** ![tongsky723](https://sea2.discourse-cdn.com/flex022/user_avatar/discourse.openrobotics.org/tongsky723/32/4122_2.png) [@tongsky723](https://discourse.openrobotics.org/u/tongsky723)\
**Post date:** [July 24, 2019, 6:09pm UTC](https://discourse.openrobotics.org/t/leishen-lslidar-c16-16-channels-lidar/10055/1 "2019-07-24T18:09:46Z")

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lslidar-c16 is a 16 channels hybird solid state lidar based on TOF working principle. The maximum detection range is up to 200m (different model has different maximum range).

- Vertical viewing angle is from -15 degree to 15 degree
- Horizontal viewing angle is 360 degree
- Maximum angular resolution is 0.09 degree at 5Hz.
- Normal angular resolution is 0.18 degree at 10Hz

We test this driver on Ubuntu16.04 (ROS Kinetic) and Ubuntu14.04 (ROS Indigo)

You can find more information at Github  
[https://github.com/tongsky723/lslidar\_C16](https://github.com/tongsky723/lslidar_C16)