User Manual

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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. Download the GCP vcp serial port driver on the official website. After the installation is successful, start

PointCloud Viewer to scan the map and observe the point cloud data.

LINUX ROS USAGE GUIDE

There are many Linux distributions. This manual only uses Ubuntu 16.04 and Kinetic version ROS

as examples.

File description

Download YDLIDAR's latest ROS driver package on official website

http://www.ydlidar.com/download;

After decompression, enter the launch folder. There are the following files in this directory:

CHART 2 LAUNCH FILE DESCRIPTIONS

File

Description

f4.launch

Run the file, F4 Lidar starts scanning, no data, no point cloud display

f4_view.launch

Run the file, Lidar F4 starts scanning and shows the point cloud