User Manual

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$ 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.launch

FIG 12 YDLIDAR G4 RVIZ

Modify the scan angle problem

The scanning data seen by running the launch file is displayed by default with 360-degree data. If

you want to modify the display range, modify the configuration parameters in launch. The specific

operation is as follows:

（1） Switch to the directory where g4.launch is located and use vim to edit g4.launch. The

contents are as follows:：

$ roscd ydlidar/launch

$ vim g4.launch