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$ sudo apt-get update
$ roscd ydlidar/launch
$ vim lidar.launch
RVIZ installation
（
1
）
Online installation
$ sudo apt-get install python-serial ros-kinetic-serial g++ vim \
ros-kinetic-turtlebot-rviz-launchers
（
2
）
If there is a problem with the installation, update the source cache and reinstall it.
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. 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:
Содержание X4
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