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C16 / C32 Multi-Line 3D Mechanical LiDAR for ROS
- 100% Open-Source Code
- Professional Technical Support
- Comprehensive Development Resources
- For bulk orders, institutional procurement, or corporate purchasing, please contact us for a formal quotation and procurement support.
The C16 / C32 Series is a multi-line mechanical 3D LiDAR family for mobile robots, autonomous vehicles, outdoor mapping, SLAM, obstacle perception, and robotics research. C16 provides 16 channels with a selectable 70–150 m measurement range, while C32 provides 32 channels with a 150 m measurement range and denser vertical point-cloud coverage. Both models use pulsed Time-of-Flight ranging, support single- and dual-return modes, and provide ROS 1 / ROS 2 development support.
- 16-channel C16 and 32-channel C32 mechanical LiDAR options
- 360° horizontal field of view and 30° vertical field of view
- C16 selectable 70–150 m range; C32 150 m range
- Selectable 5 / 10 / 20 Hz frame rates
- Single-return and dual-return point-cloud modes
- Up to 640,000 pts/s on C16 and 1,280,000 pts/s on C32 in dual-return mode
- ROS 1 / ROS 2 SDK support, Windows host GUI, angular masking, mapping and navigation demos
- IP67 enclosure and Class 1 eye-safe laser classification
- 100 Mbps Ethernet output for 3D coordinates, reflectivity intensity, timestamps and related point-cloud data
Product Overview
C16 and C32 are designed for applications that require 360° 3D environmental sensing rather than a single horizontal scan plane. Their rotating multi-channel architecture produces layered point clouds for obstacle perception, terrain awareness, outdoor mapping, localization, and autonomous-navigation research.
C16 vs. C32
| Parameter | C16 | C32 |
|---|---|---|
| Channels | 16 | 32 |
| Measurement Range | Selectable 70–150 m | 150 m |
| Ranging Principle | Pulsed TOF | Pulsed TOF |
| Laser Wavelength | 905 nm | 905 nm |
| Laser Safety Class | Class 1 Eye-Safe | Class 1 Eye-Safe |
| Typical Accuracy | ±1 cm | ±3 cm |
| Horizontal FOV | 360° | 360° |
| Vertical FOV | 30° | 30° |
| Vertical Angular Resolution | 2° | 1° |
| Frame Rate | 5 / 10 / 20 Hz | 5 / 10 / 20 Hz |
| Rotation Speed | 300 / 600 / 1200 rpm | 300 / 600 / 1200 rpm |
| Single-Return Point Rate | 320,000 pts/s | 640,000 pts/s |
| Dual-Return Point Rate | 640,000 pts/s | 1,280,000 pts/s |
| Power Consumption | 10 W | 12 W |
| Dimensions | Ø102 × 77.8 mm | Ø120 × 110 mm |
| Weight | 1040 g | 1040 g |
| Protection Rating | IP67 | IP67 |
Scanning & Point-Cloud Output
Both models support 5, 10, and 20 Hz frame rates. Horizontal angular resolution is 0.09° at 5 Hz, 0.18° at 10 Hz, and 0.36° at 20 Hz. Lower scan frequency provides finer horizontal angular sampling, while higher scan frequency refreshes the environment more frequently.
Single-return and dual-return modes are available. Dual-return mode increases the available point output and can provide additional information in scenes with multiple reflective surfaces or partially occluded objects.
UDP output includes 3D spatial coordinates, reflectivity intensity, timestamps, and related point-cloud information over a 100 Mbps Ethernet interface.
ROS, Windows & Autoware Development
Development resources include ROS 1 and ROS 2 SDK / driver packages, a Windows host application for configuration and point-cloud visualization, configurable angular masking, mapping and navigation demos, 3D reconstruction examples, and Autoware integration workflows.
Angular masking can be used to filter selected sectors when part of the LiDAR field of view is blocked by the robot chassis or another structure. This is useful for custom mobile-robot and autonomous-vehicle installations.
Electrical & Environmental Specifications
| Parameter | Specification |
|---|---|
| Ethernet Output Rate | 100 Mbps |
| Operating Voltage | 12–32 VDC |
| Storage Temperature | -40°C to +85°C |
| Operating Temperature | -20°C to +60°C |
| Mechanical Shock Resistance | 500 m/s² for 11 ms |
| Vibration Resistance | 5 Hz–2000 Hz, 3G rms |
Which Model Should I Choose?
Choose C16 for 16-Channel 3D Perception
C16 is suitable when 16 vertical channels, up to 150 m selectable range, and up to 640,000 pts/s in dual-return mode meet the perception requirements. It is the lower-cost option in the product family.
Choose C32 for Denser Vertical Point Clouds
C32 doubles the number of channels to 32, improves vertical angular resolution from 2° to 1°, and doubles the point rate to 640,000 pts/s single return or 1,280,000 pts/s dual return.
Applications
Autonomous Driving & Outdoor Mobile Robots
Suitable for low-speed autonomous vehicles, outdoor AMRs, inspection robots, research vehicles, and other systems requiring 360° 3D obstacle and terrain perception.
3D Mapping & SLAM
Use the LiDAR for point-cloud mapping, localization, environment reconstruction, SLAM development, and sensor-fusion research with GNSS, IMU, cameras, or wheel odometry.
Autoware Research
The provided Autoware integration resources support research workflows that use multi-line LiDAR for 3D mapping, localization, perception, and autonomous-navigation development.
Need Help Selecting?
For a complete autonomous-driving research vehicle using multi-line LiDAR, see the LSR200Auto Autoware autonomous driving platform. For high-precision outdoor positioning, compare the G70 / G90 GNSS RTK modules. You can also browse the Research Robot Platforms collection.
Key Features
C16 / C32 combines multi-channel TOF ranging, configurable point-cloud output, ROS development support, rugged mechanical design, and software tools for mobile robotics and autonomous-driving research.
01 TOF (Time-of-Flight) Ranging Principle
C16 and C32 use pulsed Time-of-Flight ranging. The sensor emits laser pulses and calculates distance from the measured round-trip travel time of the reflected light.
02 Multiple Point-Cloud Outputs
The LiDAR outputs 3D spatial coordinates, reflectivity intensity, timestamps, and related point-cloud data. Single-return and dual-return modes are supported for different environment and data-density requirements.
03 ROS 1 & ROS 2 Development Support
ROS 1 and ROS 2 SDK / driver packages are provided for integrating the LiDAR into robot perception, mapping, localization, and navigation workflows.
04 IP67 Protection
The LiDAR enclosure is rated IP67, supporting deployment in robotics and outdoor sensing applications where dust and water protection are required.
05 Class 1 Eye-Safe Laser
a 905 nm Class 1 eye-safe laser classification. This supports use in environments where people may be present around the sensing system.
06 Integrated LD & APD Packaging
The internal laser-diode and avalanche-photodiode modules use an integrated packaging design intended to support stable ranging performance and resistance to mechanical shock and vibration.
07 Long-Range Measurement
C16 provides a selectable 70–150 m measurement range, while C32 has a 150 m range, supporting outdoor perception and larger-area mapping applications.
08 Adjustable Scanning Frequency
Both models support 5, 10, and 20 Hz frame rates. horizontal angular resolution is 0.09° at 5 Hz, 0.18° at 10 Hz, and 0.36° at 20 Hz. Lower frequency provides finer angular sampling, while higher frequency provides faster scene refresh.
09 Single- & Dual-Return Point Rates
Both models support single-return and dual-return operation. C16 outputs up to 320,000 pts/s in single-return mode and 640,000 pts/s in dual-return mode. C32 outputs up to 640,000 pts/s in single-return mode and 1,280,000 pts/s in dual-return mode.
| Model | Single Return | Dual Return |
|---|---|---|
| C16 | 320,000 pts/s | 640,000 pts/s |
| C32 | 640,000 pts/s | 1,280,000 pts/s |
Software & Development Features
1. Windows Host GUI Software
A Windows host application is provided for connecting to the LiDAR, configuring parameters, and visualizing the 360° point-cloud stream.
2. ROS SDK Support
ROS 1 and ROS 2 functional driver packages are provided for streaming LiDAR data into supported ROS workspaces and robot applications.
3. Configurable Angular Masking
Specific angular sectors can be masked to reduce self-occlusion from a robot chassis, frame, sensor mast, or other nearby structure.
4. Mapping & Navigation Demos
Development resources include example mapping and navigation workflows for integrating the LiDAR into ROS SLAM and path-planning applications.
5. 3D Reconstruction Algorithms
Development resources include multiple sample workflows for 3D scene reconstruction and large-scale outdoor point-cloud mapping.
6. Autoware Integration
Autoware integration resources are provided for development workflows involving 3D mapping, localization, perception, and autonomous navigation.
Frequently Asked Questions
What is the difference between C16 and C32?
C16 uses 16 channels and has a vertical angular resolution of 2°. C32 uses 32 channels, improves vertical angular resolution to 1°, and doubles the point output rate. C16 has a selectable 70–150 m range, while C32 has a 150 m range.
What is the maximum measurement range?
C16 has a selectable 70–150 m measurement range. C32 has a 150 m measurement range.
What scan frequencies are supported?
Both C16 and C32 support 5 Hz, 10 Hz, and 20 Hz frame rates, corresponding to rotation speeds of 300, 600, and 1200 rpm.
What are the point-cloud output rates?
C16 outputs up to 320,000 pts/s in single-return mode and 640,000 pts/s in dual-return mode. C32 outputs up to 640,000 pts/s in single-return mode and 1,280,000 pts/s in dual-return mode.
Does the LiDAR support single and dual return?
Yes. Both C16 and C32 support single-return and dual-return measurement modes.
Does it support ROS 1 and ROS 2?
Yes. Development resources include ROS 1 and ROS 2 SDK / driver packages for LiDAR data streaming and robotics integration.
Is a Windows configuration tool provided?
Yes. A Windows host application is provided for connecting to the sensor, configuring parameters, and visualizing point-cloud data.
Can I mask part of the LiDAR scan?
Yes. The software supports configurable angular masking so selected sectors can be filtered when the robot chassis or another structure blocks part of the field of view.
Can the LiDAR be used with Autoware?
Development resources include Autoware integration workflows for 3D mapping, localization, perception, and autonomous-navigation development.
What data is included in the LiDAR output?
3D spatial coordinates, reflectivity intensity, timestamps, and related point-cloud data in UDP output.
What communication interface is used?
a 100 Mbps Ethernet data interface.
What power supply is required?
Both models support 12–32 VDC input. power consumption is 10 W for C16 and 12 W for C32.
Is the LiDAR suitable for outdoor use?
an IP67 enclosure and environmental shock / vibration ratings. Actual deployment suitability still depends on installation, wiring, power protection, temperature, weather exposure, and the requirements of the complete robot system.
Which model is better for denser 3D perception?
C32 provides the denser vertical point cloud because it uses 32 channels, 1° vertical angular resolution, and a higher point output rate. C16 is appropriate when 16-channel coverage meets the project requirements.
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