Yahboom VANJEE WLR-720 16-Line Mechanical LiDAR Sensor 120m TOF Range, Ethernet, 6-Axis IMU, ROS SDK

Overview

WLR-720 is a 16-line Mechanical LiDAR (Yahboom / VANJEE / WANJEE Technology) based on the TOF (Time of Flight) ranging principle, designed for 360 panoramic scanning and environmental 3D perception. It supports up to 120 m scanning radius, provides high-quality raw point cloud data within a 30 vertical field of view, and integrates a built-in 6-axis IMU for outputting angular velocity and acceleration data via PC software/host computer. Typical applications include navigation and positioning for low-speed vehicles and robots, outdoor high-precision map drawing, and obstacle detection.

Key Features

• 16-line mechanical scanning; vertical FOV: 30 (vertical angle: -16 to +14); 360 horizontal scanning FOV.
• Ranging range up to 120 m (TOF ranging); supports single echo / double echo.
• Adjustable scanning frequency: 5 Hz / 10 Hz / 20 Hz.
• Built-in 6-axis IMU (chip model: ASM330LHH, automotive grade); supports external IMU inertial navigation and external GPS module.
• Ethernet communication; transmission method: UDP/IP.
• Laser wavelength: 905 nm; Class 1 (eye safety).
• Provides Windows PC software and ROS-SDK; compatible with ROS (Robot Operating System).
• Provides routines for 3D mapping/navigation algorithms: Lego-Loam, Cartographer 3D, Lio-Sam, A-Loam, Liom, and Autoware.ai.
• Designed with a closed protective cover to reduce external interference; built-in heating module and heat dissipation treatment; described as having excellent light resistance.
• Protection rating is stated as IP65 in feature materials; a parameter table lists IP67 (see Specifications).

Specifications

If assistance is needed for selection or integration, contact [email protected] or visit https://rcdrone.top/.

Applications

• Navigation and positioning for low-speed vehicles and mobile robots
• Outdoor high-precision 3D mapping and point cloud data collection
• Obstacle detection and environmental perception for robotics and industrial automation
• ROS-based mapping/navigation development (ROS-SDK and provided routines)

Details

Compatible with popular ROS robot platforms for 3D perception, mapping, and navigation development.

WLR-720 delivers 360 scanning with a 120 m TOF range and an integrated 6-axis IMU for motion-aware perception.

Key capabilities at a glance: TOF ranging, Ethernet (UDP/IP), ROS SDK support, and an IP-rated protective housing.

Use the comparison table to confirm the WLR-720 configuration for your range, field-of-view, and interface needs.

Designed for obstacle detection and navigation on low-speed vehicles such as delivery robots, forklifts, and mobile platforms.

ROS SDK and supporting tools help you bring point-cloud data into common robotics workflows faster.

Ready-to-use navigation and mapping routines accelerate testing in a ROS environment.

Supports multiple 3D mapping approaches such as Lego-Loam, Cartographer 3D, A-Loam, LIO-SAM, and more.

Autoware.ai adaptation enables building mapping and navigation pipelines for autonomous applications.

Time-of-Flight measurement uses laser pulse timing to calculate distance for accurate point cloud generation.

A 16-channel layout covers a -16 to +14 vertical field of view for more complete 3D scene capture.

The built-in 6-axis IMU provides angular velocity and acceleration data for improved motion compensation.

A sealed protective cover helps the LiDAR operate more reliably in dusty or wet industrial environments.

Class 1 laser design supports everyday deployment where eye-safety is required.

Optional external IMU integration supports tighter inertial navigation workflows (for example with LIO-SAM).

10-axis IMU inertial navigation modules can be added for projects that need higher-grade inertial inputs.

Up to a 120 m measuring radius helps extend obstacle detection and planning distance in outdoor scenes.

Choose 5 Hz, 10 Hz, or 20 Hz scan frequency to balance update rate, mapping detail, and computing load.

The WLR-720 LiDAR supports single-echo and dual-echo ranging with measuring point rates listed as 288,000 and 576,000 points per second.

Windows PC client software lets you view the 360 point cloud output during setup and testing.

Adjustable shielding angle settings help block unwanted scan sectors, such as the left 30, for cleaner point cloud data during robot operation.

The WLR-720 LiDAR is commonly used for ROS robots, mapping and navigation, warehouse logistics automation, and autonomous driving research.

Yahboom WLR-720 learning resources include an online tutorial link and downloadable documents for popular SLAM algorithms like LOAM, Cartographer, A-LOAM, and LIO-SAM.

VANJEE WLR-720 LiDAR dimensions and mounting-hole layout help plan enclosure fitment and bracket placement.

The WLR-720 LiDAR lists TOF ranging from 0.5120 m, a 360 horizontal field of view, Ethernet communication, and IP67-rated protection.

The kit includes the WLR-720 16-line LiDAR sensor plus a power supply, network cable, data transformation module, and GPS line for setup.