Abstract. This paper explores the development of an affordable terrestrial laser scanner (TLS) system based on low-cost components and open source software. This paper enumerates components implemented and integrated in both hardware and software aspects. Primarily, the proposed system depends on Mid-40 LiDAR sensor and utilizes Point Cloud Library (PCL), Open Source Computer Vision Library (OpenCV) and Robotic Operating System (ROS) for system operation and data processing. Furthermore, this paper discusses sensor calibration and fusion methods available and implemented in the processing pipeline. The goal of this work is to produce an open source package of software system and hardware designs of a robust version of the TLS system that can be shared and easily reproduced by individuals and communities for their applications.