YDLIDAR F4PRO USER MANUAL Doc #：01.13.000033 文档编码：01.13.
CONTENTS YDLIDAR F4PRO Development Kit .................................................................................................. 2 Development Kit ............................................................................................................................ 2 Windows Instructions ........................................................................................................................ 3 Device connection ...................................................................
YDLIDAR F4PRO DEVELOPMENT KIT The YDLIDAR F4PRO (F4PRO) development kit is designed to facilitate users' performance evaluation and early rapid development of the F4PRO. Through F4PRO's development kit and matching evaluation software, users can observe the point cloud data scanned by F4PRO on their environment or develop on the SDK.
WINDOWS INSTRUCTIONS Device connection When evaluating and developing F4PRO under Windows, you need to interconnect F4PRO and PC. The connection steps are as follows: FIG 2 YDLIDAR F4PRO CONNECT STEP 1 FIG 3 YDLIDAR F4PRO CONNECT STEP 2 Connect the adapter board and F4PRO first, and then connect the USB cable to the USB port of the adapter board and PC. Note that the USB-DATA interface of the USB cable is connected to the USB_DATA of the USB adapter board.
V Power PC FIG 4 YDLIDAR F4PROAUXILIARY POWER SUPPLY Driver Installation When evaluating and developing the F4PRO 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: http://eaibot.com/ http://cn.silabs.
FIG 6 YDLIDAR F4PRO DRIVER INSTALLATION PROCESS After the installation is complete, you can right-click on My Computer and select Properties. On the Open system interface, select Device Manager from the left menu to enter the device manager and expand Ports. The serial port name corresponding to the identified USB adapter is the driver installation successful. The following figure shows COM3.
FIG 7 YDLIDAR F4PRODRIVE INSTALLATION CHECK Evaluation software YDLIDAR provides Point Cloud Viewer, point cloud data visualization software for F4PRO realtime scanning. Users can use this software to visually observe the F4PRO's scanning effect chart. YDLIDAR provides F4PRO real-time point cloud data and real-time scanning frequency. At the same time, F4PRO version information can be read, and scan data can be saved offline to an external file for further analysis.
FIG 8 YDLIDAR F4PRO EVALUATION SOFTWARE DESCRIPTION Note: Lidar does not turn on power protection by default. This function requires continuous sending of scanning commands for the laser radar to work properly. If you stop sending the scan frequency, Lidar will stop scanning. At present, F4PRO and F4 are compatible with this function, and X4 is not compatible. FIG 9 CLIENT SOFTWARE INTERFACE START SCANNING FIG 10 SCANNING POINT CLOUD DISPLAY www.ydlidar.
SYSTEM SETTINGS Setting ： FIG 11 CLIENT SOFTWARE SETTINGS As shown in the figure, you can set up the page to configure and detect the lidar, as well as the lidar firmware upgrade and client software upgrade. SAVE DATE According to prompts to save the point cloud data, the system will save a circle of point cloud information in the following format. FIG 12 POINT CLOUD DATA STORAGE FORMAT www.ydlidar.
SCANNING DIRECTION The lidar's scanning direction (rotation direction) can be adjusted. When the lidar is in the scanning state, you need to click the scan control again after switching the scan direction. SCANNING FREQUENCY This button is used to adjust the laser radar scan frequency (motor speed). Click any one of them; the system will pop up the frequency setting bar for automatic adjustment according to the demand.
SOFTWARE UPGRADE The client software will make version changes. Users can update to the latest version for a better experience. FIG 13 SYSTEM UPDATE LINUX ROS OPERATION There are many Linux distributions. This article only uses Ubuntu 16.04 Kinetic version ROS as an example. File description Download YDLIDAR's latest ROS driver package on official website http://www.eaibot.com/download； There are the following files in this directory: CHART 2 LAUNCH File Description F4PRO.
Lidar.launch F4PRO, G4, X4 runs the file, starts scanning, no data, no point cloud. Lidar_view.launch F4PRO, G4, X4 runs the file, starts scanning, and outputs point cloud data. Note 1: The user needs to select the correct file to run. Such as: F4PRO can not run g4_view.launch, you can run F4PRO_view.launch and Lidar_view.launch; Note 2: Before running Lidar_view.launch and Lidar.launch, it is necessary to confirm whether the configuration information of Lidar.launch is correct.
Device connection Under Linux, the F4PRO and PC interconnection process is consistent with that under Windows. See Device Connection under Window. ROS Driver Installation Before doing the following, make sure that the Kinetic version ROS environment is installed correctly. （1） Use the command to create the ydlidar_ws workspace and copy the ROS driver package ydlidar in the F4PRO package to the ydlidar_ws/src directory, switch to the ydlidar_ws workspace and recompile.
FIG 15 YDLIDAR F4PRO RVIZ Modify the scan angle The scan data seen by running the launch file is displayed by default with 360-degree data. To modify the display range, modify the configuration parameters in launch. The specific operation is as follows: （1） Switch to the directory where F4PRO.launch is located and use vim to edit F4PRO.launch. The contents are as shown in the figure:： $ roscd ydlidar/launch $ vim F4PRO.launch FIG 16 LIDAR.
FIG 17 YDLIDAR F4PRO COORDINATE ANGLE DEFINITION USE CAUTION Ambient temperature requirements When the ambient temperature of the F4PRO is too high or too low, it will affect the accuracy of the distance measuring system, and may damage the structure of the scanning system and reduce the service life of the radar. Avoid use in high temperature (>40 degrees Celsius) and low temperature (<0 degrees Celsius) conditions. Ambient lighting The ideal working environment for the F4PRO is indoor.
