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Summary of Contents for YDLIDAR X2
- Page 1 YDLIDAR X2 USER MANUAL DOC#：01.13. 000102 https://www.facebook.com/ydlidar/...
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Page 2: Table Of Contents
LINUX ROS OPERATION.............9 Device connection................ 9 ROS Driver Installation..............9 RVIZ installation................9 RVIZ Check the scan results........... 10 Modify the scan angle problem..........10 Precautions for use..............11 Temperature................11 Ambient lighting................12 Power demand................12 Revision..................12 1 / 12 www.ydlidar.com Copyright 2015-2019 EAI... -
Page 3: Windows Usage Guide
FIG 2 YDLIDAR X2 CONNECTION STEP 2 First connect the adapter board and X2, then connect the USB cable to the USB port of the adapter board and PC. Note that the Micro interface of the USB cable is connected to the USB_DATA.After X2 is powered on, it is in idle mode without turning its motor. -
Page 4: Driver Installation
FIG 3 YDLIDAR X2 AUXILIARY POWER SUPP Driver Installation To evaluate and develop the X2 under Windows, please install the serial port driver of the USB adapter board which adopts CP2102 chip to realize serial port (UART) to USB signal conversion. -
Page 5: Evaluation Software
The user can intuitively observe the X2 scan effect picture using this software. YDLIDAR provides X2 real-time point cloud data and real-time scanning frequency, and X2 version information can be read at the same time. And can save the scan data offline to an external file for further analysis. - Page 6 Note: The Lidar does not turn on the heartbeat function by default. This function needs to send the scan command continuously to make it work normally. If the scanning frequency is stopped, the Lidar will stop scanning. Currently, G4 and F4 are compatible with this function, and X2 and X2 are not compatible.
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Page 7: Start Scanning
Clicking to stop it,as shown below: FIGURE 9 LIDAR SCANNING POINT CLOUD DISPLAY10 SYSTEM SETTINGS Click System Settings and the following settings box will pop up: 6 / 12 www.ydlidar.com Copyright 2015-2019 EAI... -
Page 8: Save Data
The specific operations are as follows: (1) Unlock calibration function Click the unlock control , the system will pop up the login box, the default password is ydlidar. The effect of these controls will change after unlocking. (2) setting the baseline Click and the system will provide a baseline of the appropriate size as a reference for the adjustment. -
Page 9: Firmware Upgrade
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 12 SYSTEM UPDATE PAGE 8 / 12 www.ydlidar.com Copyright 2015-2019 EAI... -
Page 10: Linux Ros Operation
Because there are many Linux versions, this article only uses Ubuntu 16.04, Kinetic version ROS as an example. Device connection Under Linux, the X2 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. -
Page 11: Rviz Check The Scan Results
If there is a problem with the installation, update the source cache and reinstall it. （2） $ sudo apt-get update RVIZ Check the scan results Run the launch file and open rviz to view the X2 scan results, as shown in the following figure: FIG13 YDLIDAR X2 RVIZ Modify the scan angle problem The scanning data seen by running the launch file is displayed by default with 360- degree data. -
Page 12: Precautions For Use
PRECAUTIONS FOR USE Temperature When the working environment temperature of X2 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 X2 lidar. Avoid use in high temperature (>40 degrees Celsius) and low temperature (<0 degrees Celsius) conditions. -
Page 13: Ambient Lighting
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 X2, the external power supply of the +4V to the X2 needs to be provided through the USB_PWR interface of the USB interface board.
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