User Manual

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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. Switch to the ydlidar_ws

workspace and compile again.

$ mkdir -p ~/ydlidar_ws/src

$ cd ~/ydlidar_ws

$ catkin_make

（2） After the compilation is complete, add the ydlidar environment variable to the ~/.bashrc file

and make it effective.

$ echo "source ~/ydlidar_ws/devel/setup.bash" >> ~/.bashrc

$ source ~/.bashrc

（3） Add a device alias /dev/ydlidar to the G4 serial port.

$ cd ~/ydlidar_ws/src/ydlidar/startup

$ sudo chmod +x initenv.sh

$ sudo sh initenv.sh

RVIZ Installation

（1） Installation.