User Manual

www.ydlidar.com Copyright 2015-2018 YDLIDAR Team
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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.LAUNCH CONTENT
F4PRO radar coordinates follow the right-hand rule within ROS. The angle range is [-180, 180],
"angle_min" is the start angle, and "angle_max" is the end angle. The specific angle range can be
modified according to actual use.