YDLIDAR TG SERIES USER MANUAL Doc#：01.13.005302 文档编码：01.13.
CONTENTS YDLIDAR TG Development Kit........................................................................................................................ 2 Development Kit............................................................................................................................................. 2 Usage Under Windows......................................................................................................................................3 Device Connection.......................
YDLIDAR TG SERIES LIDAR DEVELOPMENT KIT The development kit of YDLIDAR TG series lidar (including TG15,TG30,TG50 etc, hereinafter referred to as TG) is an accessory tool provided for performance evaluation and early development of the TG. Through the TG development kit, and with the evaluation software, users can observe point cloud data scanned by TG on your environment or development on the SDK.
USAGE UNDER WINDOWS Device Connection When TG is evaluated and developed under windows, TG and PC need to be interconnected. The specific process is as follows： FIG2 YDLIDAR TG DEVICE CONNECTION STEP 1 FIG3 YDLIDAR TG DEVICE CONNECTION STEP 2 Connect the adapter board with TG first, then connect the USB cable to the USB port of the adapter board and the PC.
Development Platform 5V Power supply FITG YDLIDAR TG AUXILIARY POWER SUPPLY Driver Installation To evaluate and develop the TG under Windows, you need to install the serial port driver of the USB adapter board. The USB adapter board of this kit adopts CP2102 chip to realize serial port (UART) to USB signal conversion. Its driver can be downloaded from our official website or downloaded from the official website of Silicon Labs. http://ydlidar.com http://cn.silabs.
Double-click the exe file and follow the prompts to install it. FIG6 YDLIDAR TG DRIVER INSTALLING After the installation is complete, you can right-click on [My Computer] and select [Properties]. On the open [System] screen, select [Device Manager] from the left menu to access the [Device Manager]. Expand [Port] to see the serial port name corresponding to the identified USB adapter, that is, the driver installation is successful. The following figure shows COM3.
FIG7 YDLIDAR TG DRIVER INSTALLATION CHECK Evaluation Software Usage YDLIDAR provides Point Cloud Viewer, a point cloud data visualization software for TG realtime scanning. Users can intuitively observe the TG scanning effect chart. GDL real-time point cloud data and real-time scanning frequency are provided on YDLIDAR. At the same time, the version information of TG can be read, and the scan data can be saved offline to an external file for further analysis.
Note: The Lidar does not turn on the power off protection function by default. This function needs to send the scan command continuously to make it work normally. If the scanning frequency is stopped, the Lidar will stop scanning. If the connection is correct, you will see the following screen： FIG9 POINTCLOUD VIEWER INTERFACE START SCANNING Click to start scanning and display the environment point cloud. Click www.ydlidar.com Copyright 2015-2020 YDLIDAR to stop it.
FIG10 LIDAR SCANNING POINT CLOUD DISPLAY SCAN FREQUENCY is used to adjust the scanning frequency (motor speed) of the lidar. Click an drag to adjust according to the demand. When the lidar is in the scanning state, you need to click the scan control again after adjusting the scan frequency. FIG11 SCAN FREQUENCY ADJUSTMENT LINUX ROS OPERATION There are many Linux versions，this article only uses Ubuntu 16.04, Kinetic version ROS as an example. www.ydlidar.
Document Description Download the latest ROS driver package for YDLIDAR TG on GitHub. https://github.com/YDLIDAR/ydlidar_ros/tree/TG Device Connection Under Linux, the TG and PC interconnect processes are consistent with those under Windows. See Device Connection under Window. ROS Driver Installation Before doing the following, make sure that the Kinetic version ROS environment is installed correctly.
RVIZ scan result checking Run the launch file and open rviz to view the TG scan results, as shown in the following figure: $ roslaunch ydlidar lidar.launch FIG12 YDLIDAR TG RVIZ Modify Scan Angle The scanning data seen by running the launch file is displayed by default with 360degree data. To modify the display range, you need to modify the configuration parameters in the launch file. The specific operation is as follows: (1) Go to lidar.launch directory and use vim to edit lidar.
FIG 13 LIDAR.LAUNCH FILE （2）The TG lidar coordinates follow the right-hand rule within ROS, with an angle range of [-180, 180]. "angle_min" is the start angle, and "angle_max" is the end angle.The specific scope needs to be modified according to actual use. FIG14 YDLIDAR TG COORDINATES DEFINITION CAUTION Ambient Temperature When the working environment temperature of TG is too high or too low, it will affect the accuracy of the distance measuring system.
