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Table of Contents
Related Manuals for YDLIDAR G4
Summary of Contents for YDLIDAR G4
- Page 1 YDLIDAR G4 USER MANUAL Doc#：01.13.000009...
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Page 2: Table Of Contents
Contents YDLIDAR G4 DEVELOPMENT KIT ........................2 Development kit ............................2 USAGE UNDER WINDOWS ..........................3 Device connection ............................3 Driver Installation ............................4 Evaluation software usage ......................... 6 LINUX ROS OPERATION ..........................11 Document description..........................11 Device connection ............................ 11 ROS Driver Installation .......................... -
Page 3: Ydlidar G4 Development Kit
YDLIDAR G4 DEVELOPMENT KIT The development kit of YDLIDAR G4 (hereafter abbreviated as G4) is an accessory tool provided to facilitate the performance evaluation and early rapid development of the G4. Through the G4 development kit, and with the matching evaluation software, you can observe point cloud data scanned by G4 on your environment or development on the SDK. -
Page 4: Usage Under Windows
PC. Note that the Type-C interface of the USB cable is connected to the USB_DATA of the USB interface board, and the idle mode is used after G4 is powered on. The motor does not rotate. -
Page 5: Driver Installation
FIG 4 YDLIDAR G4 AUXILIARY POWER SUPPLY Driver Installation To evaluate and develop the G4 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 The following figure shows COM3. (Note that the port must be checked in case of G4 and PC interconnection). Note：Users can also choose Type-C on G4 to get started quickly.Connect the PC and G4 directly with Type-C data cable and download the vcp serial port driver of G4 on the www.ydlidar.com.
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Page 7: Evaluation Software Usage
Users can intuitively observe the G4 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 G4 can be read, and the scan data can be saved offline to an external file for further analysis. - Page 8 If the scanning frequency is stopped, the Lidar will stop scanning. Currently, G4 and F4 are compatible with this function, and X4 and X4 are not compatible. If the connection is correct, you will see the following screen：...
- Page 9 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. 8 / 12 www.ydlidar.com Copyright 2015-2019 YDLIDAR...
- Page 10 During the mechanical assembly of the Lidar, the user may have a deviation in the zero angle. In this case, the angle calibration function of the client can be used to calibrate according to actual needs. The specific operations are as follows: 9 / 12 www.ydlidar.com Copyright 2015-2019 YDLIDAR...
- Page 11 Software upgrade The client software will be version-changed and users can update to the latest version for a better experience. Click System Settings and select Update, as shown below: FIGURE 13 SYSTEM UPDATE PAGE 10 / www.ydlidar.com Copyright 2015-2019 YDLIDAR...
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Page 12: Linux Ros Operation
Before doing the following, make sure that the Kinetic version ROS environment is installed correctly. （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. $ mkdir -p ~/ydlidar_ws/src... -
Page 13: Rviz Installation
RVIZ Check the scan results Run the launch file and open rviz to view the X4 scan results, as shown in the following figure: FIG14 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. -
Page 14: Use Caution
USE CAUTION Ambient temperature When the working environment temperature of G4 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 G4 lidar. Avoid use in high temperature (>50 degrees Celsius) and low temperature (<0 degrees Celsius) conditions. -
Page 15: Power Demand
If you need to use it outdoors, please avoid that the G4'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. Please note that the G4 standard version is subject to interference in outdoor strong sunlight reflection environments.