Rviz Installation; Rviz Check The Scan Results; Modify The Scan Angle Problem - YDLIDAR X4 User Manual

RVIZ installation

（1） Online installation
$ sudo apt-get install python-serial ros-kinetic-serial g++ vim \
ros-kinetic-turtlebot-rviz-launchers
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 X4 scan results, as shown in the following figure:

Modify the scan angle problem

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:
（1） Go to X4.launch's directory and use vim to edit X4.launch. The contents are as shown
in the figure:
$ roscd ydlidar/launch
$ vim lidar.launch
FIG14 YDLIDAR X4 RVIZ
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