Run Ros Package; Rviz Results; Modify Angle Problem - EAI YDLIDAR X2 User Manual

Run ROS Package

Run the corresponding launch file according to the lidar model, The command format is:
$roslaunch ydlidar_ros_driver [launch file]
Examples of use are as follows:
a) X2 Lidar
$ roslaunch ydlidar_ros_driver X2.launch
b) X4 Lidar
$ roslaunch ydlidar_ros_driver X4.launch
c) G2 Lidar
$ roslaunch ydlidar_ros_driver G2.launch
d) G4/G5 Lidar
$ roslaunch ydlidar_ros_driver lidar.launch

RVIZ results

After running the launch file, open rviz to view the YDLIDAR scan results, as shown in the
following figure:

Modify Angle Problem

The scanning data seen by running the launch file is displayed by default with 360- degree data.
FIG 8 YDLIDAR RVIZ
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