User Manual

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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.launch

Run the file, Lidar (G4,F4 and X4) starts scanning and shows the point cloud

Note 1: need to select the correct file to run, such as: G4 cannot run f4_view.launch, you can run

g4_view.launch and Lidar_view.launch;

Note 2: To run Lidar_view.launch and Lidar.launch, you need to confirm whether the Lidar.launch

configuration information is correct. See the configuration instructions for details.

Configuration instructions

The G4 configuration file is saved in g4.launch. When modifying the parameters of Lidar.launch,

refer to the configuration in g4.launch. The configuration instructions are as follows:

CHART 3 CONFIGURATION INSTRUCTIONS

File

Descriptions

port

The lidar serial number defaults to ydlidar. When connecting multiple radars, the

serial port will have a duplicate name error.

baudrate

Serial port baud rate: G4 default is: 230400

frame_id

Lidar coordinate system: default is laser_frame

angle_fixed

Lidar Angle Correction Settings: Default is true

intensities

Lidar signal strength settings, G4, X4, F4 fixed to false

angle_min

Lidar scan start angle soft setting: direction defaults to clockwise

angle_max

Lidar scan start angle soft setting: direction defaults to counterclockwise

range_min

Lidar minimum range: default is 0.08

range_max

Lidar maximum range: default is 16.0

ignore_array

Lidar scan angle hard setting: Default is not set. The system uses soft settings by

default

In general, G4 can be configured as below: