Use ToF for simple distance checks, 2D LiDAR for mapping and depth cameras for richer indoor perception.
ToF sensors are cheap, small and good for simple obstacle detection. A 2D LiDAR is better when the robot needs a map or repeatable navigation around a room.
Do not buy LiDAR before defining the behavior. Many robots only need front distance, cliff sensing or dock alignment, which can be solved with cheaper sensors.
Short-range distance sensing
Room scanning and mapping
Obstacle shape and visual context
Motion estimate to support navigation
Compute for heavier perception
Use two or three ToF sensors.
Use 2D LiDAR plus wheel encoders.
Treat the generated output as a prototype plan, not a certified product. Body-adjacent, high-voltage, optical-energy and mobility builds need qualified review before real-world use.
Both use light timing concepts, but hobby ToF modules are point sensors while 2D LiDAR scans a plane.
For mapping with LiDAR, ROS can help. For simple avoidance, no.
Start with ToF. Upgrade when navigation needs a map.
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