YDLIDAR X4 Lidar User Manual
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YDLIDAR X4 Lidar User Manual

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X4
USER MANUAL
Shenzhen EAI Technology Co.,Ltd.

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Summary of Contents for YDLIDAR X4 Lidar

  • Page 1 USER MANUAL Shenzhen EAI Technology Co.,Ltd.

  • Page 2: Table Of Contents

    CONTENTS 1 YDLIDAR X4 LIDAR DEVELOPMENT KIT ........1 1.1 Development Kit ................. 1 2 USAGE UNDER WINDOWS .............. 2 2.1 Device Connection ................2 2.2 Driver Installation ................3 2.3 Evaluation Software Usage ..............5 2.3.1 Start Scanning....................6 2.3.2...

  • Page 3: Ydlidar X4 Lidar Development Kit

    1 YDLIDAR X4 LIDAR DEVELOPMENT KIT The development kit of YDLIDAR X4 lidar (hereinafter referred to as X4) is an accessory tool provided for performance evaluation and early development of the X4. Through the X4 development kit, and with the evaluation software, users can observe point cloud data scanned by X4 on your environment or development on the SDK.

  • Page 4: Usage Under Windows

    When evaluating and developing X4 under windows, you need to interconnect X4 and PC. The specific process is as follows: FIG 2 YDLIDAR X4 DEVICE CONNECTION STEP 1 FIG 3 YDLIDAR X4 DEVICE CONNECTION STEP 2 Connect the adapter board with X4 first, then connect the USB cable to the USB port of the adapter board and the PC.

  • Page 5: Driver Installation

    Platform 5V Power Supply FIG 4 YDLIDAR X4 AUXILIARY POWER SUPPLY 2.2 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.
  • Page 6 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. (Note that the port must be checked in case of X4 and PC interconnection). FIG 7 YDLIDAR X4 DRIVER INSTALLATION CHECK 4 / 14 Copyright 2015-2021 EAI...

  • Page 7: Evaluation Software Usage

    GDL real- time point cloud data and real-time scanning frequency are provided on YDLIDAR. At the same time, the version information of X4 can be read, and you can save the scanned data offline to an external file for further analysis Before using the YDLIDAR software, make sure that the X4 USB adapter board serial port driver is installed successfully, and interconnect the X4 with the USB port of the PC.

  • Page 8: Start Scanning

    Excel format. FIG 11 SAVE DATA 2.3.3 Display Mean and Standard Deviation Click [Tools] in the main menu, then select [Mean And STD] - [View]. FIG 12 YDLIDAR G4 DISPLAY MEAN AND STANDARD DEVIATION 6 / 14 Copyright 2015-2021 EAI...

  • Page 9: Play And Record

    Choose one according to your needs, move the mouse to the test position, right-click the pop-up menu, and select [Lock Mouse Tracking]. FIG 13 LOCK MOUSE TRACKING 2.3.4 Play and Record Click [Tools] in the main menu, then select [Record and Play]. FIG 14 RECORD AND PLAY The main window is displayed as follows:...

  • Page 10: Debug

    FIG 15 PLAY PROCESS 2.3.5 Debug Click [Tools] in the main menu, and then select [DebugON] to output the raw lidar data to the "viewer_log.txt" and "viewer_log_err.txt" files. FIG 16 START DEBUGGING 2.3.6 Filter Click [Tools] in the main menu, and then select [Filter] to add lidar data filtering algorithm.

  • Page 11: Linux Ros Operation

    YDLIDAR_ROS_DRIVER depends on the YDLIDAR-SDK library. If you have never installed the ydlidar-SDK library, or it has expired, you must first install the YDlidar-SDK library. If you have the latest version of ydlidar-SDK installed, please skip this step, Then go to the next step.

  • Page 12: Run The Ydlidar_Ros_Driver

    Note: Take G4 as an example by default, if you use other types of lidar, you need to change lidar.launch in lidar_view.launch file to the corresponding **.launch file. (If X4 lidar is used, it needs to be changed to X4.launch)

  • Page 13: Modify Scan Angle

    FIG 18 YDLIDAR X4 RVIZ 3.6 Modify Scan Angle 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:...

  • Page 14: Caution

    2) The X4 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 endangle. The specific scope needs to be modified according to actual use.

  • Page 15: Power Supply

    4.3 Power Supply During the development process, since the drive current of the USB interface of each platform or the USB interface of the computer may be too low to drive the X4, the external power supply of the +5V to the X4 needs to be provided through the USB_PWR interface of the USB interface board.

  • Page 16: Revise

    5 REVISE DATE VERSION CONTENT 2017-12-05 Composing a first draft Added auxiliary power connection method, document description, 2018-01-22 configuration description, and power supply requirements 2018-04-03 Adapt to PointCloudViewer2.0 client 2021-08-02 Adapt LidarViewer client, update SDK, ROS tutorial 14 / 14 Copyright 2015-2021 EAI...

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