YDLIDAR X4 Скачать руководство пользователя страница 8 | Manualshive

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SYSTEM SETTINGS

Click System Settings

and the following settings box will pop up:

FIGURE 11 CLIENT SETTINGS BOX

As shown in the figure, you can configure and detect the Lidar on this setup page, as well as Lidar

firmware upgrade, client software upgrade, etc.

SAVE DATA

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 followingformat.

FIGURE 12 POINT CLOUD DATA SAVE FORMAT

«
...
6
7
8
9
10
...
»

Содержание X4

Страница 1: ...1 YDLIDAR X4 USER MANUAL Doc 01 13 000002 ...

Страница 2: ...NGLE 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 SOFTWARE UPGRADE 10 LINUX ROS OPERATION 11 Document description 11 Device connection 11 ROS Driver Installation 11 RVIZ installation 12 RVIZ Check the scan results 12 Modify the scan angle problem 12 USE CAUTION 14 ...

Страница 3: ...X4 has an integrated motor drive for motor control USB cable 1 Use with USB adapter board to connect X4 and PC It is both a power supply line and a data line USB adapter board 1 This component is used for USB to UART functions enabling X4 and PC to be quickly interconnected Also supports the serial port DTR signal to the X4 motor stop control A MicroUSB Power Interface PWR for auxiliary power supp...

Страница 4: ...t 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 After the X4 is powered on it is in idle mode and the motor does not turn The drive current of the USB interface of some development platforms or PCs is weak and the X4 needs to access the 5V auxilia...

Страница 5: ... drivers After extracting 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 X4 DRIVER VERSION SELECTION Double click the exe file and follow the prompts to install it FIG 6 YDLIDAR X4 DRIVER INSTA...

Страница 6: ...an be read at the same time And can save the scan data offline to an external file for further analysis Before using YDLIDAR make sure that the X4 USB adapter board serial port driver is installed successfully and check whether the X4 and PC USB ports are successfully interconnected Run the evaluation software PointCloudViewer exe select the corresponding serial port number and model number FIG 8 ...

Страница 7: ...firmation 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 ...

Страница 8: ... As shown in the figure you can configure and detect the Lidar on this setup page as well as Lidar firmware upgrade client software upgrade etc SAVE DATA 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 followingformat FIGURE 12 POINT CLOUD DATA SAVE FORMAT ...

Страница 9: ...ssembly of the Lidar the user may have a deviation in the zero angle In this case the angle calibration function of the client can be used to calibrate according to actual needs The specific operations are as follows 1 Unlock calibration function Click the unlock control the system will pop up the login box the default password is ydlidar The effect of these controls will change after unlocking 2 ...

Страница 10: ...cked FIRMWARE UPGRADE Click System Settings and select Firmware as shown in Figure 11 Click to get the latest firmware When there is a new version the user can click on the control to perform a firmware update on the Lidar Note During the upgrade process keep the Lidar power supply normal communication stable network steady Do not plug or unplug the Lidar serial port SOFTWARE UPGRADE The client so...

Страница 11: ...netic version ROS as an example Document description 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 environmen...

Страница 12: ... 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 operatio...

Страница 13: ... 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 endangle The specific scope needs to be modified according to actual use 90 90 180 180 FIG16 YDLIDAR X4 COORDINATES DEFINITION ...

Страница 14: ...r to directly illuminate the 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 Please note that the X4 standard version is subject to interference in outdoor strong sunlight reflection environments Power demand During the ...

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