YDLIDAR X4 USER MANUAL Doc#：01.13.000003 文档编码：01.13.
CONTENTS YDLIDAR x4 Development Kit .......................................................................................................... 2 Development Kit ............................................................................................................................ 2 Windows Usage guide ...................................................................................................................... 3 Device connection .................................................................
YDLIDAR X4 DEVELOPMENT KIT The YDLIDAR X4 (hereafter abbreviated as X4) development kit is designed to facilitate users' performance evaluation and early development of the X4. By using the X4 development kit and matching evaluation software, point cloud data scanned by X4 to the environment can be observed on the PC or developed on the SDK. Development Kit The X4 development kit has the following components: USB cable YDLIDAR X4 USB adapter board PH2.
WINDOWS USAGE GUIDE Device connection When evaluating and developing X4 under windows, you need to interconnect X4 and PC. The specific process is as follows: FIG 2 YDLIDAR X4 CONNECTION STEP 1 FIG 3 YDLIDAR X4 CONNECTION STEP 2 Connect the adapter board and X4 first, and then connect the USB cable to the USB port on the adapter board and the PC. Note that the USB interface's Micro interface is connected to the USB adapter's USB_DATA.
Driver Installation To evaluate and develop the X4 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.
installation is successful. The following figure shows COM3. (Note that the port must be checked in case of X4 and PC interconnection) FIG 7 YDLIDAR X4 DRIVE INSTALLATION II Evaluation software YDLIDAR provides Point Cloud Viewer, a point cloud data visualization software for X4 real-time scanning. The user can intuitively observe the X4 scan effect picture using this software.
If the connection is normal, you will see the following screen: FIG 9 POINTCLOUD VIEWER EVALUATION SOFTWARE STARTUP DISPLAY The title bar shows the software/hardware version and serial number information for this lidar. These are menu bars: Available when the icon is blue and unavailable when it is gray. ：Stop scanning: Lidar is in idle mode. In this mode, the lidar's motor is stopped and is in standby mode. ：Start scanning: Lidar will enter scanning mode.
FIG 10 YDLIDAR X4 EVALUATION SOFTWARE Move the mouse to any sampling point and you can see the distance value and angle of the point in the red text. The scanning frequency of the laser radar can be read from the text on the upper right of the screen. LINUX ROS OPERATION Because there are many Linux versions, this article only uses Ubuntu 16.04, Kinetic version ROS as an example. File description Download YDLIDAR's latest ROS driver package at http://www.ydlidar.
Note 1: need to select the correct file to run, for example: X4 cannot run f4_view.launch, you can run x4_view.launch and Lidar_view.launch; Note 2: To run Lidar_view.launch and Lidar.launch, you need to confirm that the Lidar.launch configuration information is correct. See the configuration instructions for details. Configuration instructions The X4 configuration file is saved in x4.launch. When modifying the parameters of Lidar.launch, refer to the configuration in x4.launch.
Device connection Under Linux, the X4 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. Specific steps are as follows: （1） Use the command to create the ydlidar_ws workspace and copy the ROS driver package ydlidar in the X4 package to the ydlidar_ws/src directory. Switch to the ydlidar_ws workspace and compile again.
FIG 12 YDLIDAR X4 RVIZ Modify the scan angle problem The scanning data seen by running the launch file is displayed by default with 360-degree 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 x4.launch's directory and use vim to edit x4.launch. The contents are as shown in the figure: $ roscd ydlidar/launch $ vim x4.launch FIG 13 LIDAR.
FIG 14 YDLIDAR X4 COORDINATE DEFINITION USE CAUTION Temperature When the working environment temperature of X4 is too high or too low, it will affect the accuracy of the distance measuring system. It may also damage the structure of the scanning system and reduce the life of the X4 lidar. Avoid use in high temperature (>40 degrees Celsius) and low temperature (<0 degrees Celsius) conditions.
