User Manual

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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. Please refer to the configuration instructions for details.

Configuration instructions

The F4PRO configuration file is saved in F4PRO.launch. When modifying the parameters of

Lidar.launch, refer to the configuration in F4PRO.launch. The configuration instructions are as

follows:

CHART 3 CONFIGURATION INSTRUCTIONS

File

Description

port

Serial port number, the default is ydlidar. When connecting multiple lidars,

duplicate name error occurs when connecting multiple lidars.

baudrate

230400

frame_id

laser_frame

angle_fixed

Angle correction settings, default is true

intensities

Signal strength settings. G4, X4, F4PRO fixed to false

angle_min

Scanning start angle soft setting, the default direction is clockwise

angle_max

Scan end angle soft setting, the default direction is clockwise

range_min

Minimum range, the default is 0.08

range_max

The maximum ranging range, the default is 12.0

ignore_array

Scan angle is hard to set, default is not set, the system uses soft settings by

default

In general, F4PRO can be configured as below:

FIG 14 F4PRO.LAUNCH DEFAULT CONFIGURATION