YDLIDAR X4 User Manual 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.
0°
90° - 90°
180°/-180°
FIG16 YDLIDAR X4 COORDINATES DEFINITION
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