Linux Ros Operation; Document Description; Device Connection; Ros Driver Installation - YDLIDAR G4 User Manual

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

LINUX ROS OPERATION

Because there are many Linux versions, this article only uses Ubuntu 16.04, Kinetic version
ROS as an example.

Document description

Download the latest ROS driver package for YDLIDAR X4 on GitHub
https://github.com/YDLIDAR/ydlidar/tree/G4;

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.
（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
$ cd ~/ydlidar_ws
$ catkin_make
（2） After the compilation is complete, add the ydlidar environment variable to the
~/.bashrc file and make it effective.
$ echo "source ~/ydlidar_ws/devel/setup.bash" >> ~/.bashrc
$ source ~/.bashrc
（3） Add a device alias /dev/ydlidar to the X4 serial port.
$ cd ~/ydlidar_ws/src/ydlidar/startup
$ sudo chmod +x initenv.sh
$ sudo sh initenv.sh
to update the client software.
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