YDLIDAR X4PRO User Manual Download Page 7 | Manualshive

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Copyright 2022 EAI All Rights Reserved

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If the connection is correct, it will show the following screen

：

FIG 9 POINTCLOUD VIEWER INTERFACE

2.3.1

Start Scanning

Click

to start scanning and display the environment point cloud, the upper left corner

displays the angle & distance information of the red line position (unit: mm). Click

to stop it. as

shown below:

FIG 10 LIDAR SCANNING POINT CLOUD DISPLAY

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Summary of Contents for X4PRO

Page 1: ...Shenzhen EAI Technology Co Ltd DOC 01 13 001702 www ydlidar com X4PRO USERMANUAL ...

Page 2: ...Scanning 5 2 3 2 Data Storage 6 2 3 3 Display Mean and Standard Deviation 6 2 3 4 Play and Record 6 2 3 5 Debug 7 2 3 6 Filter 8 3 LINUX ROS OPERATION 8 3 1 Device Connection 8 3 2 Compile and Install YDlidar SDK 8 3 3 ROS Driver Installation 9 3 4 Run the ydlidar_ros_driver 10 3 5 RVIZ View Scan Results 10 3 6 Modify Scan Angle 10 4 CAUTION 12 4 1 Ambient Temperature 12 4 2 Ambient Lighting 12 4 ...

Page 3: ...ble 1 Use with USB adapter board to connect X4PRO and PC USB cable is both a power supply cable and a data cable USB Adapter Board 1 Realize the function of USB to UART which is convenient for the fast interconnection between X4PRO and PC Serial port DTR signal to control X4PRO motor despin control In addition a Micro USB power interface PWR for auxiliary power supply is provided Note USB Adapter ...

Page 4: ... USB port of the adapter board and the PC Note that the Type C interface of the USB cable is connected to the USB_DATA of the USB adapter board The drive current of USB interface of some development platforms or PC is not sufficient X4PRO need to be connected to the auxiliary power supply of 5V otherwise the lidar will be abnormal FIG 4 YDLIDAR X4PRO AUXILIARY POWER SUPPLY Development Platform 5V ...

Page 5: ...bs com products development tools software usb to uart bridge vcp drivers After decompressing the driver package run the CP2102 s Windows driver installation file exe file under CP210x_VCP_Windows Please select the 32 bit version x86 or 64 bit version x64 installation program according to the version of the windows operating system FIG 5 YDLIDAR X4PRO DRIVER VERSION SELECTION Double click the exe ...

Page 6: ...ning effect chart GDL real time point cloud data and real time scanning frequency are provided on YDLIDAR At the same time users can save the scanned data offline to an external file for further analysis Visualization software download link https www ydlidar com Public upload download TOOL zip Before using the YDLIDAR software make sure that the X4PRO USB adapter board serial port driver is instal...

Page 7: ...ing screen FIG 9 POINTCLOUD VIEWER INTERFACE 2 3 1 Start Scanning Click to start scanning and display the environment point cloud the upper left corner displays the angle distance information of the red line position unit mm Click to stop it as shown below FIG 10 LIDAR SCANNING POINT CLOUD DISPLAY ...

Page 8: ...n scanned in a circle in Excel format FIG 11 SAVE DATA 2 3 3 Display Mean and Standard Deviation Click Tools in the main menu then select Mean And STD View FIG 12 YDLIDAR G4 DISPLAY MEAN AND STANDARD DEVIATION Choose one according to needs move the mouse to the test position right click the pop up menu and select Lock Mouse Tracking FIG 13 LOCK MOUSE TRACKING 2 3 4 Play and Record Click Tools in t...

Page 9: ...dar data click to start recording and click to stop recording In non scanning mode click to start play The play process is as follows FIG 15 PLAY PROCESS 2 3 5 Debug Click Tools in the main menu and then select DebugON to output the raw lidar data to the viewer_log txt and viewer_log_err txt files FIG 16 START DEBUGGING ...

Page 10: ... an example SDK driver address https github com YDLIDAR YDLidar SDK ROS driver address https github com YDLIDAR ydlidar_ros_driver 3 1 Device Connection Under Linux the X4PRO and PC interconnect processes are consistent with those under Windows See Device Connection under Window 3 2 Compile and Install YDlidar SDK YDLIDAR_ROS_DRIVER depends on the YDLIDAR SDK library If never installed the YDlidar...

Page 11: ...ROS_PACKAGE_PATH variable It can be seen something like this home tony ydlidar_ws src opt ros melodic share 5 Create Serial Port Alias Optional Note After completing the previous operation re insert the LIDAR again git clone https github com YDLIDAR YDLidar SDK git cd YDLidar SDK build cmake make sudo make install git clone https github com YDLIDAR ydlidar_ros_driver git ydlidar_ws src ydlidar_ros...

Page 12: ...lt if use other types of lidar need to change lidar launch in lidar_view launch file to the corresponding launch file If X4PRO lidar is used it needs to be changed to X4 launch FIG 18 YDLIDAR X4PRO RVIZ 3 6 Modify Scan Angle The scanning data seen by running the launch file is displayed by default with 360 degree data To modify the display range need to modify the configuration parameters in the l...

Page 13: ...ation about the file contents please refer to https github com YDLIDAR ydlidar_ros_driver configure ydlidar_ros_driver internal parameter 2 The X4PRO 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 endangle The specific scope needs to be modified according to actual use FIG 20 YDLIDAR X4PRO COORDINATES DEFINIT...

Page 14: ...rs to directly illuminate the X4PRO vision system If the user need to use it outdoors please avoid the X4PRO s vision system directly facing the sun which may cause permanent damage to the vision system s photosensitive chip which will invalidate the range finding The X4PRO standard version will cause interference in the distance measurement under the conditions of strong sunlight reflection outdo...

Page 15: ...Copyright 2022 EAI All Rights Reserved 13 13 5 REVISE Date Version Content 2022 05 30 1 0 The 1st release ...

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