YDLIDAR G4 USER MANUAL Doc#：01.13.000009 文档编码：01.13.
CONTENTS YDLIDAR G4 Development Kit ......................................................................................................... 2 Development kit ............................................................................................................................ 2 Usage under WINDOWS .................................................................................................................. 2 Device connection ......................................................................
YDLIDAR G4 DEVELOPMENT KIT The development kit of YDLIDAR G4 (hereafter abbreviated as G4) is an accessory tool provided to facilitate the performance evaluation and early rapid development of the G4. Through the G4 development kit, and with the matching evaluation software, you can observe point cloud data scanned by G4 on your environment or development on the SDK.
FIG 2 YDLIDAR G4DEVICE CONNECTION STEP 1 FIG 3 YDLIDAR G4DEVICE CONNECTION STEP 2 Connect the adapter board and G4 first, and 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 interface board, and the idle mode is used after G4 is powered on. The motor does not rotate.
to USB signal conversion. Its driver can be downloaded from our official website or downloaded from the official website of Silicon Labs. http://ydlidar.com/ 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).
driver installation is successful. The following figure shows COM3. (Note that the port must be checked in case of G4 and PC interconnection). FIG 7 YDLIDAR G4 DRIVE INSTALLATION CHECK Evaluation software usage YDLIDAR provides Point Cloud Viewer, a point cloud data visualization software for G4 real-time scanning. Users can intuitively observe the G4 scanning effect chart. GDL real-time point cloud data and real-time scanning frequency are provided on YDLIDAR.
FIG 9 POINTCLOUD VIEWEREVALUATION SOFTWARE STARTUP INTERFACE The title bar shows the software/hardware version and serial number information for this lidar. Menu bar: Available when the icon is blue and unavailable when it is gray, where: ：Stop scanning: lidar will switch to idle mode, in this mode, the lidar stalls, in standby mode; ：Start scanning: Lidar will switch to scanning mode.
Click - start scanning, point cloud data can be observed in the software interface as shown below: FIG 10 YDLIDAR G4 POINT CLOUD DATA Move the mouse to any sampling point and you can see the distance value and angle of the point in the red text. The lidar scanning frequency can be read out using the text in the upper right of the screen. Note: Users can also select Type-C on G4 for fast connection. Use Type-C data cable to connect PC and G4 directly.
g4.launch Run the file, G4 Lidar starts scanning, no data, no point cloud display g4_view.launch Run the file, Lidar G4 starts scanning and shows the point cloud x4.launch Run the file, X4 Lidar starts scanning, no data, no point cloud display x4_view.launch Run the file, Lidar X4 starts scanning and shows the point cloud Lidar.launch Run the file, Lidar (G4, F4 and X4) starts scanning, no data, no point cloud display Lidar_view.
FIG 11 G4.LAUNCHDEFAULT CONFIGURATIONS Device connection Under Linux, the G4 and PC interconnect processes are consistent with those under Windows. See Device Connections under Windows. ROS Driver installation Before doing the following, make sure that the Kinetic version ROS environment is installed correctly. Specific steps are as follows: （1） Use the command to create the ydlidar_ws workspace and copy the ROS driver package ydlidar in the G4 package to the ydlidar_ws/src directory.
$ sudo apt-get install python-serial ros-kinetic-serial g++ vim \ ros-kinetic-turtlebot-rviz-launchers （2） If there is a problem with the installation, update the source cache and reinstall it. $ sudo apt-get update RVIZ Check the scan results Run the launch file and open rviz to see the G4 scan results, as shown in the following figure: $ roslaunch ydlidar g4_view.
FIG 13 LIDAR.LAUNCH FILE （2） The G4 radar 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 end angle. The specific scope needs to be modified according to actual use. FIG 14 YIDAR G4 COORDINATE ANGLE DEFINITION USE CAUTION Ambient temperature When the working environment temperature of G4 is too high or too low, it will affect the accuracy of the distance measuring system.
Please note that the G4 standard version is subject to interference in outdoor strong sunlight reflection environments. Power demand During the development process, since the drive current of the USB interface of each platform or the USB interface of the computer may be too low to drive the G4, the external power supply of the +4V to the G4 needs to be provided through the USB_PWR interface of the USB interface board.
