Yahboom T-MINI Plus TOF LiDAR Sensor 12m/25m 360° Serial ROS1/ROS2 for Raspberry Pi Jetson PC
Yahboom T-MINI Plus TOF LiDAR Sensor 12m/25m 360° Serial ROS1/ROS2 for Raspberry Pi Jetson PC
Yahboom
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Overview
Yahboom T-MINI-Plus is a compact TOF (Time-of-Flight) 360° LiDAR ranging sensor designed for ROS robot perception and mapping. It is available in 12 m and 25 m ranging versions, and provides ROS1/ROS2 driver code, debugging software, and usage tutorials for integration on platforms such as Raspberry Pi, Jetson development boards, and PC.
Key Features
- TOF ranging principle with 360° scan angle
- Two ranging versions: 12 m or 25 m
- Sampling frequency: 4000 times/s
- Scanning frequency: 6 Hz to 12 Hz adjustable
- Ambient light resistance: 60 kLux
- Standard asynchronous serial port communication
- Supports ROS1/ROS2; Windows host computer support is provided
- Built-in brushless motor; motor speed adjustment function
- Compact footprint for space-constrained robots and embedded devices
Specifications
| Model | T-MINI PLUS TOF LiDAR |
| Brand | EAI |
| Range measurement principle | TOF ranging |
| Scan angle | 360° |
| Measuring radius @ reflectivity | 12 m @ 80% |
| Sampling frequency | 4000 times/s |
| Scanning frequency | 6~12 Hz (adjustable) |
| Angular resolution | 0.54° |
| Resistance to ambient light intensity | 60 KLux |
| Minimum measuring distance | 0.05 m |
| Ranging accuracy | 20 mm (0.05~12 m) |
| Measure radius | Black object: 12 m |
| Communication interface | Standard asynchronous serial port |
| Communication rate | 230.4 kbps (230400 bps) |
| Power supply | 4.8 V to 5.2 V |
| Power supply / Power consumption | 5 V / 1.5 W |
| Dimensions | 38.6 × 38.6 × 33.9 mm (also listed as 3.39 cm × 3.86 cm) |
| Weight | 45 g |
| Drive mode | Built-in brushless motor |
| Protection rating | / |
| Waterproof and dustproof | / |
| Certified product | / |
| Support ROS | ROS1 / ROS2 |
Version Differences (12 m vs 25 m)
| Range | 12 m version: 12 m | 25 m version: 25 m |
| Range accuracy | 20 mm (0.05~12 m) | 20 mm (0.05~12 m); 80 mm (12~25 m) |
| Working current | 300 mA | 340 mA |
Applications
- ROS robotics obstacle detection and environment perception
- 2D mapping and navigation research on Raspberry Pi / Jetson / PC
- Compact mobile robots where size and weight are constrained
Manuals
Tutorials and reference materials: http://www.yahboom.net/study/T-mini_Plus
For product selection help and after-sales support, contact support@rcdrone.top or visit https://rcdrone.top/.
Details
For portable mapping workflows, PALMSLAM handheld hardware is available that supports T-MINI Plus LiDAR integration.
Yahboom T-MINI Plus uses TOF ranging with ROS1/ROS2 support, with 12 m or 25 m versions available.
A side-by-side table helps compare scan angle, frequency, and interfaces against common alternatives.
Choose between 12 m and 25 m ranging versions based on your mapping distance needs and power budget.
The compact, lightweight housing fits space-constrained robots while keeping mounting simple.
Two scanning radius options make it easy to match the sensor to indoor labs or larger environments.
Scanning frequency is adjustable from 6 Hz to 12 Hz to balance update rate and data density.
A 360° rotating scan supports obstacle detection and 2D mapping for ROS-based navigation stacks.
Ambient light resistance up to 60 kLux helps maintain stable ranging in bright indoor or outdoor lighting.
Yahboom T-MINI Plus TOF LiDAR supports ROS1 and ROS2 systems for easier integration into robotics projects.
Yahboom T-MINI Plus TOF LiDAR is designed to work with ROS-based robots and common platforms like Raspberry Pi, Jetson, and PCs.
ROS example workflows cover RTAB-VSLAM 3D mapping and navigation, dynamic obstacle avoidance, tracking, and autonomous exploration.
The T-MINI Plus TOF LiDAR setup is supported by an Android/iOS ROS mapping and navigation app with map viewing and robot control.
A Windows PC client debugging tool provides a live scan-style view for monitoring and testing the TOF LiDAR sensor.
Yahboom T-MINI Plus TOF LiDAR supports use cases like ROS robot mapping and navigation, UAV obstacle avoidance, and environmental 3D scanning.
The Yahboom T-MINI Plus TOF LiDAR connects to a computer via a USB‑C data cable for quick plug-and-play setup.
A low-power infrared laser source with pulsed, high-frequency emission is used to meet laser safety standards.
The EAI X3 Pro course catalog for T-MINI Plus outlines modules for mapping, navigation, and ROS/ROS2 workflows.
A bundled tutorial link and downloadable course folders provide setup and learning resources for the T-MINI Plus kit.
ROS2 learning resources are organized into video tutorials plus dedicated sections for a LiDAR course and an RPi5 Docker course.
Yahboom T-MINI Plus TOF LiDAR sensor dimensions and mounting-hole layout help with enclosure design and bracket alignment.
Yahboom T-MINI Plus TOF LiDAR specs list 0–360° scanning, 6–12 Hz scan frequency, and 0.05–12 m or 0.05–25 m ranging options.
The T-MINI Plus TOF LiDAR uses a 4-pin serial connector (VCC, TX, GND, RX) with 0–3.3V signal levels and a 4.8–5.2V supply input.
The Yahboom T-MINI Plus TOF LiDAR sensor comes in a compact enclosed module with a round top housing for easy integration.
The Yahboom T-MINI Plus TOF LiDAR package includes the sensor, a serial port adapter board with case, a Type-C data cable, and a connecting line for easy hookup.
