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Related Manuals for YDLIDAR X4
Summary of Contents for YDLIDAR X4
- Page 1 YDLIDAR X4 USER MANUAL Doc#：01.13.000002...
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Page 2: Table Of Contents
CONTENTS CONTENTS YDLIDAR X4 DEVELOPMENT KIT...............................3 WINDOWS USAGE GUIDE................................4 START SCANNING..................................7 SYSTEM SETTINGS..................................8 SAVE DATA....................................8 Ranging frequency..................................9 ANGLE CALIBRATION................................9 (1) Unlock calibration function..............................9 (2) setting the baseline...................................9 (3) Adjusting the angle.................................. 9 (4) save configuration..................................9 (5) Lock calibration function...............................10 FIRMWARE UPGRADE................................10... -
Page 3: Ydlidar X4 Development Kit
The YDLIDAR X4 (hereafter abbreviated as X4) development kit is designed to facilitate users' performance evaluation and early development of the X4. By using the X4 development kit and matching evaluation software, point cloud data scanned by X4 to the environment can be observed on the PC or developed on the SDK. -
Page 4: Windows Usage Guide
FIG 3 YDLIDAR X4 CONNECTION STEP 2 Connect the adapter board and X4 first, and then connect the USB cable to the USB port on the adapter board and the PC. Note that the USB interface's Micro interface is connected to the USB adapter's USB_DATA. - Page 5 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. Its driver can be downloaded from our official website or downloaded from the official website of Silicon Labs: http://ydlidar.com/...
- 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 X4 and X4 are not compatible. 6 / 14...
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Page 7: Start Scanning
After confirmation,you can see the following screen： FIG 9 POINTCLOUD VIEWER EVALUATION SOFTWARE STARTUP DISPLAY START SCANNING Click to start scanning and display the environment point cloud. Clicking to stop it,as shown below: FIGURE10 LIDAR SCANNING POINT CLOUD DISPLAY 7 / 14 www.ydlidar.com Copyright 2015-2019 YDLIDAR... -
Page 8: System Settings
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. FIGURE 12 POINT CLOUD DATA SAVE FORMAT 8 / 14 www.ydlidar.com Copyright 2015-2019 YDLIDAR... -
Page 9: Ranging Frequency
Ranging frequency is used to switch the Lidar's ranging frequency. The X4 supports 4K, 8K, and 9K ranging frequency switching. Other versions of the Lidar do not support this function, and the click is invalid. When the Lidar is in the scanning state, you need to click the scanning control again after switching the ranging frequency. -
Page 10: Lock Calibration Function
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 EAI... -
Page 11: Linux Ros Operation
Download the latest ROS driver package for YDLIDAR X4 on GitHub https://github.com/YDLIDAR/ydlidar/tree/X4; 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. -
Page 12: Rviz Installation
（2） $ sudo apt-get update 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 13 FIG 15 LIDAR.LAUNCH FILE （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 end angle. The specific scope needs to be modified according to actual use.
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Page 14: Use Caution
X4's vision system. If you need to use it outdoors, please avoid that the X4'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.