YDLIDAR X4 Manuale utente

USER MANUAL

Shenzhen EAI Technology Co.,Ltd.

DOC #:01.13.000002

www.ydlidar.com

 
 
Copyright 2015-2021 EAI 
CONTENTS 
1YDLIDAR X4 LIDAR DEVELOPMENT KIT ....................................... 1 
1 Development Kit ................................................................................. 1 
2USAGE UNDER WINDOWS.............................................................. 2 
1 Device Connection .............................................................................2 
2 Driver Installation ...............................................................................3 
3 Evaluation Software Usage................................................................5 
3.1 Start Scanning...................................................................................................6 
3.2 Data Storage......................................................................................................6 
3.3 Display Mean and Standard Deviation............................................................6 
3.4 Play and Record................................................................................................7 
3.5 Debug.................................................................................................................8 
3.6 Filter...................................................................................................................8 
3LINUX ROS OPERATION.................................................................. 9 
1 Device Connection .............................................................................9 
2 Compile and Install YDlidar-SDK.......................................................9 
3 ROS Driver Installation.......................................................................9 
4 Run the ydlidar_ros_driver .............................................................. 10 
5 RVIZ View Scan Results................................................................... 10 
6 Modify Scan Angle............................................................................11 
4CAUTION......................................................................................... 12
1 Ambient Temperature....................................................................... 12 
2 Ambient Lighting .............................................................................. 12 
3 Power Supply.................................................................................... 13 
5REVISE ............................................................................................ 14
 

1 / 14

1YDLIDAR X4 LIDAR DEVELOPMENT KIT

The development kit of YDLIDAR X4 lidar (hereinafter referred to as X4) is an

accessory tool provided for performance evaluation and early development of the X4.

Through the X4 development kit, and with the evaluation software, users can observe point

cloud data scanned by X4 on your environment or development on the SDK.

1.1 Development Kit

The X4 development kit has the following components：

FIG 1 YDLIDAR X4 DEVELOPMENT KIT

CHART 1 YDLIDAR TG SERIES LIDAR DEVELOPMENT KIT DESCRIPTION

Item

Qty.

Description

X4 lidar

Standard version of the X4 Lidar. The X4 has an integrated motor

drive for despin control and motor control.

USB Type-C

Cable

Use with USB adapter board to connect X4 and PC. USB cable is

both a power supply cable and a data cable.

USB Adapter

Board

Realize the function of USB to UART, which is convenient for the

fast interconnection between X4 and PC. Serial port DTR signal to

control X4 motor rotation and stop. In addition, a Micro USB

power interface (PWR) for auxiliary power supply is provided.

Note: USB Adapter board has two USB TYPE C interface：USB_DATA、USB_PWR.

USB_DATA: Data powered interface. In most cases, this interface can be used to meet power and

communication requirements.

USB_PWR: Auxiliary power supply interface. The USB interface of some development platforms

has weak current drive capability. At this time, auxiliary power supply can be used.

X4 Lidar

USB Type-C Cable

USB Adapter Board

2 / 14

2USAGE UNDER WINDOWS

2.1 Device Connection

When evaluating and developing X4 under windows, you need to interconnect X4 and

PC. The specific process is as follows:

FIG 2 YDLIDAR X4 DEVICE CONNECTION STEP 1

FIG 3 YDLIDAR X4 DEVICE CONNECTION STEP 2

Connect the adapter board with X4 first, then connect the USB cable to the 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, and the idle mode is used after X4

is powered on. The motor does not rotate.

The drive current of USB interface of some development platforms or PC is not

sufficient. X4 need to be connected to the auxiliary power supply of +5V, otherwise the lidar

will be abnormal.

3 / 14

FIG 4 YDLIDAR X4 AUXILIARY POWER SUPPLY

2.2 Driver Installation

To evaluate and develop the X4 under Windows, you need to install the serial port

driver of the USB adapter board. The USB adapter board of this kit adopts CP2102 chip to

realize serial port (UART) to USB signal conversion. Its driver can be downloaded from our

official website or downloaded from the official website of Silicon Labs.

https://www.ydlidar.com/dowfile.html?id=97

http://cn.silabs.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 X4 DRIVER VERSION SELECTION

Double-click the exe file and follow the prompts to install it.

Development

Platform

5V Power

Supply

4 / 14

FIG 6 YDLIDAR X4 DRIVER INSTALLING

After the installation is complete, you can right-click on [My Computer] and select

[Properties]. On the open [System] screen, select [Device Manager] from the left menu to

access the [Device Manager].

Expand [Port] to see the serial port name corresponding to the identified USB adapter,

that is, the driver installation is successful. The following figure shows COM3. (Note that the

port must be checked in case of X4 and PC interconnection).

FIG 7 YDLIDAR X4 DRIVER INSTALLATION CHECK

5 / 14

2.3 Evaluation Software Usage

YDLIDAR provides Point Cloud Viewer, a point cloud data visualization software

LidarViewer for X4 real-time scanning. Users can intuitively observe the X4 scanning effect

chart. GDL real- time point cloud data and real-time scanning frequency are provided on

YDLIDAR. At the same time, the version information of X4 can be read, and you can save

the scanned data offline to an external file for further analysis

Before using the YDLIDAR software, make sure that the X4 USB adapter board serial

port driver is installed successfully, and interconnect the X4 with the USB port of the PC.

Run the evaluation software: LidarViewer.exe, select the corresponding serial port number

and model number. You could tick the square box to choose power off protection function.

Meanwhile, users could choose language and software type on the top right corner.

FIG 8 YDLIDAR X4 EVALUATION SOFTWARE

If the connection is correct, you will see the following screen：

FIG 9 POINTCLOUD VIEWER INTERFACE

6 / 14

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

2.3.2 Data Storage

During lidar scanning, click [File] in the main menu, select [Export to Excel], and save

point cloud data according to the prompts. Then the system will save the point cloud

information 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

7 / 14

Choose one according to your 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 the main menu, then select [Record and Play].

FIG 14 RECORD AND PLAY

The main window is displayed as follows:

To record lidar data, click to start recording, and click to stop recording.

In non-scanning mode, click to start play.

The play process is as follows:

8 / 14

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

2.3.6 Filter

Click [Tools] in the main menu, and then select [Filter] to add lidar data filtering

algorithm.

FIG 17 FILTER SETTING

Note: For more functions of LidarViewer, please click [Help], select [More Information], and learn more

about how to use it.

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