YDLIDAR X2 USER MANUAL DOC#：01.13. 000102 https://www.facebook.
CONTENTS WINDOWS USAGE GUIDE..........................................................2 Device connection........................................................................ 2 Driver Installation..........................................................................3 Evaluation software......................................................................4 Start scanning.............................................................................6 System settings......................................
WINDOWS USAGE GUIDE Device connection When evaluating and developing X2 under windows, you need to interconnect X2 and PC. The specific process is as follows: FIG 1 YDLIDAR X2 CONNECTION STEP 1 FIG 2 YDLIDAR X2 CONNECTION STEP 2 First connect the adapter board and X2, then connect the USB cable to the USB port of the adapter board and PC. Note that the Micro interface of the USB cable is connected to the USB_DATA.After X2 is powered on, it is in idle mode without turning its motor.
5V Power Supply Development Platform FIG 3 YDLIDAR X2 AUXILIARY POWER SUPP Driver Installation To evaluate and develop the X2 under Windows, please install the serial port driver of the USB adapter board which 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.
FIG 5 YDLIDAR X2 DRIVER INSTALLATION After the installation is complete, right click [My Computer], select [Properties]. Under the [System] screen, select [Device Manager] in the left menu to enter the device manager. Expand [Port] to see the serial port name corresponding to the identified USB adapter, which means the driver is successfully installed.The figure below is COM3.
Before using YDLIDAR, make sure that the X2 USB adapter board serial port driver is installed successfully, and check whether the X2 and PC USB ports are successfully interconnected. Run the evaluation software: PointCloudViewer.exe, select the corresponding serial port number and model number. FIG 7 YDLIDAR X2 EVALUATION SOFTWARE Note: The Lidar does not turn on the heartbeat function by default. This function needs to send the scan command continuously to make it work normally.
START SCANNING Click Clicking to start scanning and display the environment point cloud. to stop it,as shown below: FIGURE 9 LIDAR SCANNING POINT CLOUD DISPLAY10 SYSTEM SETTINGS Click System Settings and the following settings box will pop up: www.ydlidar.
FIGURE 10 CLIENT SETTINGS BOX As shown in the figure, you can configure and detect the Lidar on this setup page, as well as Lidar firmware upgrade, client software upgrade, etc. SAVE DATA During Lidar scanning,click ，Save the point cloud data as prompted.The system will save the point cloud information scanned in a circle according to the following format.
After the adjustment is completed, click the system will automatically save the calibration parameters, and the calibration will take effect after saving. (5) Lock calibration function After the calibration is saved, click again to lock the function to prevent misoperation. these controls will return to normal functionality after being locked. FIRMWARE UPGRADE Click System Settings and select Firmware, as shown in Figure 10. Click to get the latest firmware.
Select the configuration as shown above, click ‘check for updates’, if there is no new version, the system will prompt no update; when there is a new version, the software version information will be filled in the information box, click to update the client software. LINUX ROS OPERATION Because there are many Linux versions, this article only uses Ubuntu 16.04, Kinetic version ROS as an example. Device connection Under Linux, the X2 and PC interconnect processes are consistent with those under Windows.
$ sudo apt-get install python-serial ros-kinetic-serial g++ vim \ ros-kinetic-turtlebot-rviz-launchers （2） If there is a problem with the installation, update the source cache and reinstall it. $ sudo apt-get update RVIZ Check the scan results Run the launch file and open rviz to view the X2 scan results, as shown in the following figure: FIG13 YDLIDAR X2 RVIZ Modify the scan angle problem The scanning data seen by running the launch file is displayed by default with 360degree data.
FIG 14 LIDAR.LAUNCH FILE （2） The X2 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. 0° 90° - 90° 180°/-180° FIG15 YDLIDAR X2 COORDINATES DEFINITION PRECAUTIONS FOR USE Temperature When the working environment temperature of X2 is too high or too low, it will affect the accuracy of the distance measuring system.
Ambient lighting The ideal working environment for the X2 is indoor, indoor lighting (including no light) will not affect the X2 work. However, avoid using a strong light source (such as a high-power laser) to directly illuminate the X2's vision system. If you need to use it outdoors, please avoid that the X2's vision system is directly facing the sun. This may cause permanent damage to the vision system's sensor chip, thus invalidating the distance measurement.
